diff --git "a/json/train/data-00003-of-00160.json" "b/json/train/data-00003-of-00160.json"
new file mode 100644--- /dev/null
+++ "b/json/train/data-00003-of-00160.json"
@@ -0,0 +1,7654 @@
+{"uid":"14971721899853281609","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray Q: immediate next step? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull 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 redbull in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull in tray 2- Pick up the can 3- Put the can on the table 4- place red bull can upright 5- place red bull can in the tray\n\u003c/PRED\u003e","video":"11109657817599327008.mp4"}
+{"uid":"14254952705535786548","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can in the tray 2- place red bull can in the tray 3- Pick up the can 4- Put the can on the table 5- place red bull can upright\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e","video":"8192262723610421279.mp4"}
+{"uid":"4993755219487932172","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":"5801020365368860676.mp4"}
+{"uid":"8325486724156790768","text":"\u003ctask:success:discrete:False\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- place red bull can upright 3- place red bull can in the tray 4- place red bull 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: Put the can on the table\n\u003c/PRED\u003e","video":"4202057836864410343.mp4"}
+{"uid":"7872637390889513555","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":"9897422313311733428.mp4"}
+{"uid":"7852563169280494772","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can on the table 2- place red bull can upright 3- place red bull can in the tray 4- place red bull 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 red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace red bull 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: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace red bull 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":"5132028972293059453.mp4"}
+{"uid":"12228147609276453438","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray Q: immediate next step? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:success:discrete:False\u003e\nplace 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: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can in the tray 2- Pick up the can 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e","video":"1766613649532999095.mp4"}
+{"uid":"1737595851106988699","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7649221140817366055.mp4"}
+{"uid":"793072882890718762","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray Q: immediate next step? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull in tray 2- place red bull can in the tray 3- Pick up the can 4- place red bull can in the tray 5- place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e","video":"409597124975315165.mp4"}
+{"uid":"6096074162872914514","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":"1566441183646973663.mp4"}
+{"uid":"16061846040021500350","text":"\u003ctask:success:discrete:True\u003e\nplace 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray Q: immediate next step? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- Pick up the can 5- place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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":"6216007090972218582.mp4"}
+{"uid":"9728136764745500432","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the scoop from 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":"13431116295324434215.mp4"}
+{"uid":"8470489190166782005","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the left 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":"5136751110836532247.mp4"}
+{"uid":"5497370153242130951","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":"2310039705999411125.mp4"}
+{"uid":"9852095945080552205","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":"11515935390874348268.mp4"}
+{"uid":"947288020840236283","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray Q: immediate next step? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can in the tray 2- Pick up the can 3- Put the can on the table 4- place red bull can upright 5- place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:success:discrete:False\u003e\nplace 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","video":"14333558861220124776.mp4"}
+{"uid":"17732280974842547230","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can 9- Put the can on the table 10- place red bull can upright 11- place red bull can in the tray 12- put redbull in tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can 9- Put the can on the table 10- place red bull can upright 11- place red bull can in the tray 12- put redbull in tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput redbull 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":"16859290883320520443.mp4"}
+{"uid":"14514978577624749680","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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\nPut the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can in the tray 2- Pick up the can 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e","video":"18292457011201958090.mp4"}
+{"uid":"8663696921931342764","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npour the choco chips 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":"2608085060313520566.mp4"}
+{"uid":"15411101108966773182","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can in the tray 2- place red bull can in the tray 3- Pick up the can 4- place red bull can in the tray 5- place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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: Put the can in the tray\n\u003c/PRED\u003e","video":"1516604851625049627.mp4"}
+{"uid":"4714616460906946221","text":"\u003ctask:success:discrete:True\u003e\nplace 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 red bull can in the tray\n\u003c/PRED\u003e","video":"13864845967158440504.mp4"}
+{"uid":"5318456017086976502","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput redbull 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":"5662076918466270279.mp4"}
+{"uid":"9768919800101957479","text":"\u003ctask:success:discrete:True\u003e\nput redbull 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: put redbull in tray\n\u003c/PRED\u003e","video":"7613844004218944751.mp4"}
+{"uid":"12114105030283138512","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":"14484450215996322445.mp4"}
+{"uid":"17076345949387746476","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can 9- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: Put the left tilted can up right on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the left tilted can up right on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can 9- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the left tilted can up right on the table 2- place red bull can in the tray 3- place red bull can in the tray 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the left tilted can up right on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the left tilted can up right on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the left tilted can up right on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: Put the left tilted can up right on the table\n\u003c/PRED\u003e","video":"15353131930861506457.mp4"}
+{"uid":"73803014960121183","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 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: put the cans in the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e","video":"1207064592453999438.mp4"}
+{"uid":"5085485233185965784","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can 9- Put the can on the table 10- place red bull can upright 11- place red bull can in the tray 12- Put the tilted can up right in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can 9- Put the can on the table 10- place red bull can upright 11- place red bull can in the tray 12- Put the tilted can up right in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tilted can up right in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the tilted can up right 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":"15321242625079323064.mp4"}
+{"uid":"9998523652791131568","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick 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":"1838630813696310448.mp4"}
+{"uid":"8239506304525686222","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput redbull 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":"5153208481271991534.mp4"}
+{"uid":"11522335191293367279","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the duck in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10005828400454253018.mp4"}
+{"uid":"7664608784269939343","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"5644620423502760382.mp4"}
+{"uid":"17235400326529755376","text":"\u003ctask:success:discrete:False\u003e\nplace 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: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can 9- Put the can on the table 10- place red bull can upright 11- place red bull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place 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 red bull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can 9- Put the can on the table 10- place red bull can upright 11- place red bull can in the tray Q: immediate next step? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e","video":"5321836023505781539.mp4"}
+{"uid":"2503670871662217870","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":"13059550571755776306.mp4"}
+{"uid":"2635811272308189854","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chip 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":"3655906837171821626.mp4"}
+{"uid":"2799180138915671798","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the cart to 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":"9179613902334403160.mp4"}
+{"uid":"15085269508631515847","text":"\u003ctask:success:discrete:True\u003e\nPut the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e","video":"13385279833566147109.mp4"}
+{"uid":"4064732907225999206","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7763330453354119031.mp4"}
+{"uid":"12234801424103906755","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the bananas in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12730534039938267869.mp4"}
+{"uid":"1721244345407671588","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red 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":"16015783234667219850.mp4"}
+{"uid":"7005910825503825625","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput that 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":"5880047662139160526.mp4"}
+{"uid":"5008797357745965783","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the can\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7986370817353117068.mp4"}
+{"uid":"17109942903637294441","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput redbull 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":"717292501878473571.mp4"}
+{"uid":"7993918570639797817","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can 9- Put the can on the table 10- place red bull can upright 11- place red bull can in the tray 12- place red bull 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: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can 9- Put the can on the table 10- place red bull can upright 11- place red bull can in the tray 12- place red bull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"13069865933071731282.mp4"}
+{"uid":"1291912073622378471","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 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: put the cans in the tray. last 20 steps: 1- place red bull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- Pick up the can 5- place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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":"14295044356339662194.mp4"}
+{"uid":"2399960930264870549","text":"\u003ctask:success:discrete:False\u003e\nPut 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: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can 9- Put the can on the table 10- place red bull can upright Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can in the tray 2- place red bull can in the tray 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can 9- Put the can on the table 10- place red bull can upright Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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":"5355322286927153929.mp4"}
+{"uid":"17666393416140861179","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: Put the tilted can up right in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can 9- Put the can on the table 10- place red bull can upright 11- place red bull can in the tray Q: immediate next step? \u003cPRED\u003eA: Put the tilted can up right in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tilted can up right in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tilted can up right in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tilted can up right 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 the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can 9- Put the can on the table 10- place red bull can upright 11- place red bull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tilted can up right in the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tilted can up right 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":"2657449368890301211.mp4"}
+{"uid":"7620103487263207310","text":"\u003ctask:success:discrete:True\u003e\nplace red bull 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 red bull can on the table\n\u003c/PRED\u003e","video":"4132614361600770425.mp4"}
+{"uid":"12630524833848198025","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput redbull 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":"15711453076329085300.mp4"}
+{"uid":"159198643338145284","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":"2466440680004411907.mp4"}
+{"uid":"17484346318611547369","text":"\u003ctask:success:discrete:True\u003e\nput redbull 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: put redbull in tray\n\u003c/PRED\u003e","video":"13294788282614590817.mp4"}
+{"uid":"5685593844404743798","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the can 2- place red bull can in the tray 3- place red bull can in the tray 4- Pick up the can 5- Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray Q: immediate next step? \u003cPRED\u003eA: Pick up the can\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the can\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: Pick up the can\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the can\n\u003c/PRED\u003e","video":"5633704493624124748.mp4"}
+{"uid":"4584965246396062185","text":"\u003ctask:success:discrete:True\u003e\nplace 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 red bull can in the tray\n\u003c/PRED\u003e","video":"16532819812713016717.mp4"}
+{"uid":"8405468150057975659","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can 9- Put the can on the table 10- place red bull can upright Q: immediate next step? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace red bull can upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can 9- Put the can on the table 10- place red bull can upright Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can in the tray 2- place red bull can in the tray 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place red bull can upright\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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 red bull can in the tray\n\u003c/PRED\u003e","video":"3637465905220537297.mp4"}
+{"uid":"9535236719828629268","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4947321270860018481.mp4"}
+{"uid":"12465132509498671995","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray Q: immediate next step? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull 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 redbull in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull in tray 2- Pick up the can 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull 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":"6959632025305799671.mp4"}
+{"uid":"9368313520851502049","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull 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: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray Q: immediate next step? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull on table 2- place red bull can upright 3- place red bull can in the tray 4- place red bull can in the tray 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull 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: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull on table\n\u003c/PRED\u003e","video":"2727604595924596326.mp4"}
+{"uid":"1048543230605970999","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":"17095272202825946794.mp4"}
+{"uid":"18133651607167816875","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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 red bull can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can Q: immediate next step? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can in the tray 2- place red bull can in the tray 3- Pick up the can 4- Put the can on the table 5- place red bull can upright\n\u003c/PRED\u003e","video":"13513301352859783048.mp4"}
+{"uid":"15310034011024235261","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16197147501181193812.mp4"}
+{"uid":"6192129581869573683","text":"\u003ctask:success:discrete:True\u003e\nPut the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e","video":"9895860100125219886.mp4"}
+{"uid":"9826589626508270771","text":"\u003ctask:success:discrete:False\u003e\nPut the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can in the tray 2- Pick up the can 3- Put the can on the table 4- place red bull can upright 5- place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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: Put the can in the tray\n\u003c/PRED\u003e","video":"9136627795963113887.mp4"}
+{"uid":"13651350072688183168","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pistachio in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2219160030949443684.mp4"}
+{"uid":"4095664076533259814","text":"\u003ctask:success:discrete:True\u003e\nPut the left tilted can up right on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the left tilted can up right on the table\n\u003c/PRED\u003e","video":"15102980356225806590.mp4"}
+{"uid":"9580872400906844967","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray Q: immediate next step? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull in tray 2- place red bull can in the tray 3- Pick up the can 4- place red bull can in the tray 5- place red bull can in the tray\n\u003c/PRED\u003e","video":"15401330547358097070.mp4"}
+{"uid":"4083725051371826839","text":"\u003ctask:success:discrete:True\u003e\nPut the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e","video":"1795159851063314755.mp4"}
+{"uid":"9477578459170742351","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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":"13924183097083623613.mp4"}
+{"uid":"16906511387576662972","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"302870757780227951.mp4"}
+{"uid":"17123477443668133586","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":"6843449540530106947.mp4"}
+{"uid":"7193839273633476012","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can 9- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: place red bull can upright\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place red bull can upright\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can 9- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can upright 2- place red bull can in the tray 3- place red bull can in the tray 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: place red bull can upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace red bull can upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place red bull can upright\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace red bull can upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13624470296843902617.mp4"}
+{"uid":"6636406235860797970","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can 9- Put the can on the table 10- place red bull can upright Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull in tray 2- place red bull can in the tray 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can 9- Put the can on the table 10- place red bull can upright Q: immediate next step? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull 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":"13437896416800200647.mp4"}
+{"uid":"16868903073132659737","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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 red bull can in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray Q: immediate next step? \u003cPRED\u003eA: place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can in the tray 2- place red bull can in the tray 3- Pick up the can 4- place red bull can in the tray 5- place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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":"11852532792960138216.mp4"}
+{"uid":"6928284820559021429","text":"\u003ctask:success:discrete:True\u003e\nplace 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 red bull can in the tray\n\u003c/PRED\u003e","video":"8548167046296284866.mp4"}
+{"uid":"483824333438601749","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can 9- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull upright 2- place red bull can in the tray 3- place red bull can in the tray 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: put redbull upright\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull upright\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can 9- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: put redbull upright\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull upright\n\u003c/PRED\u003e","video":"11517004112625614703.mp4"}
+{"uid":"1971515851799928749","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nSlightly move up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8953981873330002604.mp4"}
+{"uid":"11689689467215379622","text":"\u003ctask:success:discrete:True\u003e\nput redbull 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 redbull on table\n\u003c/PRED\u003e","video":"4577952413419880753.mp4"}
+{"uid":"17461471541483558252","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the left table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11616852677411710202.mp4"}
+{"uid":"6511141695611974821","text":"\u003ctask:success:discrete:True\u003e\nPut the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e","video":"686592466166457633.mp4"}
+{"uid":"8989686423776822370","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"12300788605259690370.mp4"}
+{"uid":"13743041081472501594","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put redbull upright\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput redbull upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14004039086432260222.mp4"}
+{"uid":"7522564998446648971","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can Q: immediate next step? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull in tray 2- place red bull can in the tray 3- Pick up the can 4- Put the can on the table 5- place red bull can upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull 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 redbull 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":"18179037766697948887.mp4"}
+{"uid":"6435121573311511684","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"152221530287597782.mp4"}
+{"uid":"6102065207396457335","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":"7953107595849558480.mp4"}
+{"uid":"1907757325414173822","text":"\u003ctask:success:discrete:True\u003e\nPut the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e","video":"5666832995345270357.mp4"}
+{"uid":"17655638702861113868","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull in tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull 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 redbull in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e","video":"3256515723662526021.mp4"}
+{"uid":"7433762173928267616","text":"\u003ctask:success:discrete:True\u003e\nPut the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the can in the tray\n\u003c/PRED\u003e","video":"2985276096834268331.mp4"}
+{"uid":"12545147752319941143","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: Pick up the can\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray Q: immediate next step? \u003cPRED\u003eA: Pick up the can\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the can\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the can 2- Put the can on the table 3- place red bull can upright 4- place red bull can in the tray 5- place red bull can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the can\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9255247458801886126.mp4"}
+{"uid":"9651602791163975184","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"15235373431633124014.mp4"}
+{"uid":"16952439107527207688","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the cans in the tray. Q: immediate next step? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can 9- Put the can on the table 10- place red bull can upright 11- place red bull can in the tray Q: immediate next step? \u003cPRED\u003eA: put redbull in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the cans in the tray. last 20 steps: 1- place red bull can in the tray 2- place red bull can in the tray 3- place red bull can in the tray 4- place red bull can in the tray 5- Pick up the can 6- place red bull can in the tray 7- place red bull can in the tray 8- Pick up the can 9- Put the can on the table 10- place red bull can upright 11- place red bull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull in tray 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull 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:discriminative:discrete:True\u003e\nput redbull 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":"17527697024746857257.mp4"}
+{"uid":"78863281687578779","text":"\u003ctask:success:discrete:True\u003e\nplace 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 red bull can in the tray\n\u003c/PRED\u003e","video":"7403550186668511836.mp4"}
+{"uid":"13879195815358222146","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sanitizer bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle from the table Q: immediate next step? \u003cPRED\u003eA: place the sanitizer bottle on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: place the sanitizer bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the sanitizer bottle on the table 2- enter the cafeteria 3- open the drawer 4- place the yellow packet on the counter 5- close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sanitizer bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sanitizer 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 sanitizer bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16164748157953950290.mp4"}
+{"uid":"14448821420277609270","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11598075541609777142.mp4"}
+{"uid":"14465580672444060346","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":"7217772772625262552.mp4"}
+{"uid":"9519949072874342540","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack 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":"9684375325979022282.mp4"}
+{"uid":"10890793318408088210","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":"359674430396050568.mp4"}
+{"uid":"12447058837640899380","text":"\u003ctask:success:discrete:False\u003e\npick up cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin . last 20 steps: 1- put cup on machine 2- adjust the cup Q: immediate next step? \u003cPRED\u003eA: pick up cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin Q: immediate next step? \u003cPRED\u003eA: pick up cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin . last 20 steps: 1- put cup on machine 2- adjust the cup Q: next 5 steps? \u003cPRED\u003eA: 1- pick up cup 2- put cup on the water purifier machine 3- pick up cup 4- fill water in the cup 5- put cup on the water purifier machine\n\u003c/PRED\u003e","video":"15416963122020051726.mp4"}
+{"uid":"13080567524695277426","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the sanitizer bottle from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up 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","video":"6564435614130635916.mp4"}
+{"uid":"18336855422544767913","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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle from the table 2- place the sanitizer bottle on the table 3- enter the cafeteria Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle from the table 2- place the sanitizer bottle on the table 3- enter the cafeteria Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the yellow packet on the counter 3- close the drawer 4- pick up the yellow packet from the counter 5- enter the hallway\n\u003c/PRED\u003e","video":"12178014131158413061.mp4"}
+{"uid":"14679762802893907672","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin . last 20 steps: 1- put cup on machine 2- adjust the cup 3- pick up cup 4- put cup on the water purifier machine 5- pick up cup 6- fill water in the cup 7- put cup on the water purifier machine 8- put cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin Q: immediate next step? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin . last 20 steps: 1- put cup on machine 2- adjust the cup 3- pick up cup 4- put cup on the water purifier machine 5- pick up cup 6- fill water in the cup 7- put cup on the water purifier machine 8- put cup on the table Q: immediate next step? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e","video":"17649102711315882367.mp4"}
+{"uid":"12017389729434567021","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:planning:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle from the table 2- place the sanitizer bottle on the table 3- enter the cafeteria 4- open the drawer 5- place the yellow packet on the counter Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- pick up the yellow packet from the counter 3- enter the hallway 4- place the yellow 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: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: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle from the table 2- place the sanitizer bottle on the table 3- enter the cafeteria 4- open the drawer 5- place the yellow packet on the counter Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"14672310208767445962.mp4"}
+{"uid":"12092233905534030763","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red illy 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":"2430855554820353182.mp4"}
+{"uid":"4103084926429394461","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the binder 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":"341495782072491248.mp4"}
+{"uid":"12746569197713669770","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick disinfectant pump 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":"16741543504089248547.mp4"}
+{"uid":"1157761653240790763","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I am hungry can you get me a snack from Mk kitchen and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: place the chocolate on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the chocolate on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a snack from Mk kitchen and bring it to my desk. last 20 steps: 1- open the drawer 2- place the chocolate on the table 3- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the chocolate on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a snack from Mk kitchen and bring it to my desk. last 20 steps: 1- open the drawer 2- place the chocolate on the table 3- close the drawer Q: immediate next step? \u003cPRED\u003eA: place the chocolate on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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:affordance:discriminative:discrete:True\u003e\nplace the 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 chocolate on the table\n\u003c/PRED\u003e","video":"4304615024144854829.mp4"}
+{"uid":"12565412065358434978","text":"\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: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk 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: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle from the table 2- place the sanitizer bottle on the table 3- enter the cafeteria 4- open the drawer 5- place the yellow packet on the counter 6- close the drawer 7- pick up the yellow packet from the counter 8- enter the hallway Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow 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 yellow packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle from the table 2- place the sanitizer bottle on the table 3- enter the cafeteria 4- open the drawer 5- place the yellow packet on the counter 6- close the drawer 7- pick up the yellow packet from the counter 8- enter the hallway 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":"15449590614880914545.mp4"}
+{"uid":"443564952720688015","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":"10513057241086248315.mp4"}
+{"uid":"3200953187170217156","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"13449928902037459116.mp4"}
+{"uid":"18314419349501964800","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":"14893229795600569832.mp4"}
+{"uid":"4623563866050123703","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the yellow packet from the counter\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the yellow packet from the 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":"17747905923568054995.mp4"}
+{"uid":"764061925751798040","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on machine 2- adjust the cup 3- pick up cup 4- put cup on the water purifier machine 5- pick up cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup on machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup on machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin Q: immediate next step? \u003cPRED\u003eA: put cup on machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put cup on machine\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup on machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup on machine\n\u003c/PRED\u003e","video":"12546196860100858827.mp4"}
+{"uid":"14303772621906882631","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the sanitizer bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the sanitizer bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9062285891451478954.mp4"}
+{"uid":"17064155851763920989","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":"1331452894484456769.mp4"}
+{"uid":"14290866028312623256","text":"\u003ctask:success:discrete:True\u003e\nput cup on the water purifier machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cup on the water purifier machine\n\u003c/PRED\u003e","video":"8647111476724293052.mp4"}
+{"uid":"16731352650314805969","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a snack from Mk kitchen and bring it to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the chocolate on the table 3- close the drawer 4- place the chocolate on the table 5- done\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:planning:freeform\u003e\ncurrent goal is: I am hungry can you get me a snack from Mk kitchen and bring it 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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a snack from Mk kitchen and bring it to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"3654211002981248578.mp4"}
+{"uid":"7543925139227815620","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":"4009360817212036766.mp4"}
+{"uid":"15537658320715329584","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: enter the hallway\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nenter the hallway Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12998113842698555056.mp4"}
+{"uid":"14734922884177940416","text":"\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a snack from Mk kitchen and bring it to my desk. last 20 steps: 1- open the drawer 2- place the chocolate 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: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: I am hungry can you get me a snack from Mk kitchen and bring it to my desk. last 20 steps: 1- open the drawer 2- place the chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- place the chocolate on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am hungry can you get me a snack from Mk kitchen and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"7715417883777603304.mp4"}
+{"uid":"8139649410557861104","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":"8070548234994112956.mp4"}
+{"uid":"17762491156264181184","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green candy in the middle tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13006187311599921300.mp4"}
+{"uid":"181707483276060583","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: fill water in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nfill water 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":"261347029408228227.mp4"}
+{"uid":"13230004941767308077","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: enter the hallway\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle from the table 2- place the sanitizer bottle on the table 3- enter the cafeteria 4- open the drawer 5- place the yellow packet on the counter 6- close the drawer 7- pick up the yellow packet from the counter Q: next 5 steps? \u003cPRED\u003eA: 1- enter the hallway 2- place the yellow packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter the hallway\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle from the table 2- place the sanitizer bottle on the table 3- enter the cafeteria 4- open the drawer 5- place the yellow packet on the counter 6- close the drawer 7- pick up the yellow packet from the counter Q: immediate next step? \u003cPRED\u003eA: enter the hallway\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nenter the hallway Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: enter the hallway\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nenter the hallway Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11969526732745439125.mp4"}
+{"uid":"16005842879841455248","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tissue on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin . last 20 steps: 1- put cup on machine 2- adjust the cup 3- pick up cup 4- put cup on the water purifier machine 5- pick up cup 6- fill water in the cup 7- put cup on the water purifier machine 8- put cup on the table 9- put tissue on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin . last 20 steps: 1- put cup on machine 2- adjust the cup 3- pick up cup 4- put cup on the water purifier machine 5- pick up cup 6- fill water in the cup 7- put cup on the water purifier machine 8- put cup on the table 9- put tissue on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4240735223476429413.mp4"}
+{"uid":"9137225407499473337","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a snack from Mk kitchen and bring it to my desk. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the chocolate on the table 2- close the drawer 3- place the chocolate on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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:planning:freeform\u003e\ncurrent goal is: I am hungry can you get me a snack from Mk kitchen and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: place the chocolate on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a snack from Mk kitchen and bring it to my desk. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the chocolate on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the chocolate on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the chocolate on the table\n\u003c/PRED\u003e","video":"15589398609255984409.mp4"}
+{"uid":"3569244060266035476","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the sanitizer bottle from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the sanitizer bottle from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: pick up the sanitizer bottle from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the sanitizer bottle from the table 2- place the sanitizer bottle on the table 3- enter the cafeteria 4- open the drawer 5- place the yellow packet on the counter\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the sanitizer bottle from the table\n\u003c/PRED\u003e","video":"3281498029703760623.mp4"}
+{"uid":"13295051240888194439","text":"\u003ctask:success:discrete:True\u003e\nenter the cafeteria Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 cafeteria\n\u003c/PRED\u003e","video":"2047850634107213221.mp4"}
+{"uid":"6155740892436356815","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: fill water in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nfill water in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin . last 20 steps: 1- put cup on machine 2- adjust the cup 3- pick up cup 4- put cup on the water purifier machine 5- pick up cup Q: next 5 steps? \u003cPRED\u003eA: 1- fill water in the cup 2- put cup on the water purifier machine 3- put cup on the table 4- put tissue on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin . last 20 steps: 1- put cup on machine 2- adjust the cup 3- pick up cup 4- put cup on the water purifier machine 5- pick up cup Q: immediate next step? \u003cPRED\u003eA: fill water in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: fill water in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin Q: immediate next step? \u003cPRED\u003eA: fill water in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nfill water in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16594232301149940200.mp4"}
+{"uid":"2503073095225110862","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"13641422939485068823.mp4"}
+{"uid":"12541553982783967184","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put cup on machine\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput cup on machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3091441580504313605.mp4"}
+{"uid":"3293272946337013622","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3737890148877190030.mp4"}
+{"uid":"3563579946005266813","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I am hungry can you get me a snack 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\nplace the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a snack from Mk kitchen and bring it to my desk. last 20 steps: 1- open the drawer 2- place the chocolate on the table 3- close the drawer 4- place the chocolate on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the chocolate on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am hungry can you get me a snack from Mk kitchen and bring it to my desk. last 20 steps: 1- open the drawer 2- place the chocolate on the table 3- close the drawer 4- place the chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"16294781495236588532.mp4"}
+{"uid":"4736565714646068660","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":"7986169792408611087.mp4"}
+{"uid":"6188275411367936861","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin Q: immediate next step? \u003cPRED\u003eA: put cup on the water purifier machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup on the water purifier machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup on the water purifier machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup on the water purifier machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin . last 20 steps: 1- put cup on machine 2- adjust the cup 3- pick up cup Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on the water purifier machine 2- pick up cup 3- fill water in the cup 4- put cup on the water purifier machine 5- put cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup on the water purifier machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin . last 20 steps: 1- put cup on machine 2- adjust the cup 3- pick up cup Q: immediate next step? \u003cPRED\u003eA: put cup on the water purifier machine\n\u003c/PRED\u003e","video":"3147502328879859033.mp4"}
+{"uid":"11112099693569402863","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin . last 20 steps: 1- put cup on machine 2- adjust the cup 3- pick up cup 4- put cup on the water purifier machine 5- pick up cup 6- fill water in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on the water purifier machine 2- put cup on the table 3- put tissue on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup on the water purifier machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin . last 20 steps: 1- put cup on machine 2- adjust the cup 3- pick up cup 4- put cup on the water purifier machine 5- pick up cup 6- fill water in the cup Q: immediate next step? \u003cPRED\u003eA: put cup on the water purifier machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup on the water purifier machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup on the water purifier machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup on the water purifier machine\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin Q: immediate next step? \u003cPRED\u003eA: put cup on the water purifier machine\n\u003c/PRED\u003e","video":"11343714238371567462.mp4"}
+{"uid":"11658446879797292441","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":"14450269866836795306.mp4"}
+{"uid":"7004688012672577632","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin Q: immediate next step? \u003cPRED\u003eA: put cup on the table\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: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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin . last 20 steps: 1- put cup on machine 2- adjust the cup 3- pick up cup 4- put cup on the water purifier machine 5- pick up cup 6- fill water in the cup 7- put cup on the water purifier machine Q: immediate next step? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin . last 20 steps: 1- put cup on machine 2- adjust the cup 3- pick up cup 4- put cup on the water purifier machine 5- pick up cup 6- fill water in the cup 7- put cup on the water purifier machine Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on the table 2- put tissue 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 cup on the table\n\u003c/PRED\u003e","video":"10911113247994701276.mp4"}
+{"uid":"10105588879930231536","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle from the table 2- place the sanitizer bottle on the table 3- enter the cafeteria 4- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow packet on the counter 2- close the drawer 3- pick up the yellow packet from the counter 4- enter the hallway 5- 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 counter\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: place the yellow packet on the counter\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle from the table 2- place the sanitizer bottle on the table 3- enter the cafeteria 4- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the yellow packet on the counter\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the yellow packet on the 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:affordance:discriminative:discrete:True\u003e\nplace the yellow packet on the 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the yellow packet on the counter\n\u003c/PRED\u003e","video":"8617061441255008353.mp4"}
+{"uid":"10489117754713629630","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the left wire roll 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":"9972383091200454438.mp4"}
+{"uid":"651306305667609588","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin . last 20 steps: 1- put cup on machine 2- adjust the cup 3- pick up cup 4- put cup on the water purifier machine Q: immediate next step? \u003cPRED\u003eA: pick up cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin . last 20 steps: 1- put cup on machine 2- adjust the cup 3- pick up cup 4- put cup on the water purifier machine Q: next 5 steps? \u003cPRED\u003eA: 1- pick up cup 2- fill water in the cup 3- put cup on the water purifier machine 4- put cup on the table 5- put tissue on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin Q: immediate next step? \u003cPRED\u003eA: pick up cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8793341193791919891.mp4"}
+{"uid":"13859149415793007585","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace bowl 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":"1148805950476553023.mp4"}
+{"uid":"1494074772575565935","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":"6928144097838999426.mp4"}
+{"uid":"7816606571409597032","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle from the table 2- place the sanitizer bottle on the table 3- enter the cafeteria 4- open the drawer 5- place the yellow packet on the counter 6- close the drawer Q: immediate next step? \u003cPRED\u003eA: pick up the yellow packet from the counter\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the yellow packet from the 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the yellow packet from the counter\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the yellow packet from the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the yellow packet from the counter\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: pick up the yellow packet from the counter\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle from the table 2- place the sanitizer bottle on the table 3- enter the cafeteria 4- open the drawer 5- place the yellow packet on the counter 6- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the yellow packet from the counter 2- enter the hallway 3- place the yellow packet on the table 4- done\n\u003c/PRED\u003e","video":"2960574082762680546.mp4"}
+{"uid":"10989001755913976263","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":"15049816871928162702.mp4"}
+{"uid":"15897848999405736370","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle from the table 2- place the sanitizer bottle on the table Q: immediate next step? \u003cPRED\u003eA: enter the cafeteria\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nenter the cafeteria Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 cafeteria Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 cafeteria\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle from the table 2- place the sanitizer bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- enter the cafeteria 2- open the drawer 3- place the yellow packet on the counter 4- close the drawer 5- pick up the yellow packet from the counter\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter the cafeteria\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: enter the cafeteria\n\u003c/PRED\u003e","video":"874286162240020559.mp4"}
+{"uid":"2419209612102470504","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the yellow packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle from the table 2- place the sanitizer bottle on the table 3- enter the cafeteria 4- open the drawer 5- place the yellow packet on the counter 6- close the drawer 7- pick up the yellow packet from the counter 8- enter the hallway 9- place the yellow packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done using sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk. last 20 steps: 1- pick up the sanitizer bottle from the table 2- place the sanitizer bottle on the table 3- enter the cafeteria 4- open the drawer 5- place the yellow packet on the counter 6- close the drawer 7- pick up the yellow packet from the counter 8- enter the hallway 9- place the yellow 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 sanitizer can you put it back and while coming back can you bring me a jalapeno chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15791918326049590664.mp4"}
+{"uid":"2897137812087781327","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":"2722059054158900487.mp4"}
+{"uid":"15728513861016140732","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the cup\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin . last 20 steps: 1- put cup on machine Q: immediate next step? \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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin . last 20 steps: 1- put cup on machine Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the cup 2- pick up cup 3- put cup on the water purifier machine 4- pick up cup 5- fill water in 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:planning:freeform\u003e\ncurrent goal is: please make me a cup of cold water and grab me a napkin Q: immediate next step? \u003cPRED\u003eA: adjust the cup\n\u003c/PRED\u003e","video":"5017131452816178190.mp4"}
+{"uid":"11602470601724884933","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":"2154277708532944417.mp4"}
+{"uid":"18025099320904195468","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown 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 put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket 8- Put the plastic spoon in pen stand 9- Put the plastic spoon in pen stand 10- Put the plastic spoon in pen stand 11- Put the plastic spoon in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in basket 2- Put the brown packet in basket 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown 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 put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket 8- Put the plastic spoon in pen stand 9- Put the plastic spoon in pen stand 10- Put the plastic spoon in pen stand 11- Put the plastic spoon in pen stand Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e","video":"12667185463882566500.mp4"}
+{"uid":"306321016508866766","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the brown 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","video":"3532972826277091906.mp4"}
+{"uid":"5336545325498934573","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick it up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17298047037619135668.mp4"}
+{"uid":"8367516940789500943","text":"\u003ctask:success:discrete:True\u003e\nPut the plastic spoon in pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic spoon in pen stand\n\u003c/PRED\u003e","video":"12119108887000569817.mp4"}
+{"uid":"557454994903244620","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in black cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: put spoon in black cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket 8- Put the plastic spoon in pen stand 9- Put the plastic spoon in pen stand Q: immediate next step? \u003cPRED\u003eA: put spoon in black cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in black 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 put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket 8- Put the plastic spoon in pen stand 9- Put the plastic spoon in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in black cup 2- Put the plastic spoon in pen stand 3- Put the brown packet in basket 4- Put the brown packet in basket 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in black cup\n\u003c/PRED\u003e","video":"8863220713325146388.mp4"}
+{"uid":"16707318193337795189","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana 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":"9693809958347622691.mp4"}
+{"uid":"2399796637408223131","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":"7199657037177843777.mp4"}
+{"uid":"1667227477261105490","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic spoon in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket 8- Put the plastic spoon in pen stand 9- Put the plastic spoon in pen stand 10- Put the plastic spoon in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoon in pen stand 2- Put the brown packet in basket 3- Put the brown packet in basket 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket 8- Put the plastic spoon in pen stand 9- Put the plastic spoon in pen stand 10- Put the plastic spoon in pen stand Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic spoon in pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11425999842881322733.mp4"}
+{"uid":"8205737745424426404","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the fork 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":"15261518403623522428.mp4"}
+{"uid":"2139932468885098443","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue duster packet on 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":"10960807114119080225.mp4"}
+{"uid":"10130513685534718890","text":"\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: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket 8- Put the plastic spoon in pen stand 9- Put the plastic spoon in pen stand 10- Put the plastic spoon in pen stand 11- Put the plastic spoon in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in stand 2- Put the brown packet in basket 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white 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: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket 8- Put the plastic spoon in pen stand 9- Put the plastic spoon in pen stand 10- Put the plastic spoon in pen stand 11- Put the plastic spoon in pen stand 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e","video":"7942514540786673693.mp4"}
+{"uid":"10437501172284699855","text":"\u003ctask:success:discrete:False\u003e\nPut the plastic spoon in pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic spoon in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoon in pen stand 2- Put the plastic spoon in pen stand 3- Put the plastic spoon in pen stand 4- Put the plastic spoon in pen stand 5- Put the brown packet in basket\n\u003c/PRED\u003e","video":"5762660580816209874.mp4"}
+{"uid":"8053871548606542688","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":"8613628103259898784.mp4"}
+{"uid":"9585460849868576103","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":"3769803340910924538.mp4"}
+{"uid":"7678661496432060065","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet 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":"8121941296447293988.mp4"}
+{"uid":"6651936055202433607","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":"3704076711925064189.mp4"}
+{"uid":"10553426670825148951","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the left pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6114466888121306735.mp4"}
+{"uid":"2343756197976726664","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate packet in the left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1751958413010297679.mp4"}
+{"uid":"18151614026471958893","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":"973482775757021446.mp4"}
+{"uid":"3551918427549225203","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the duck toy into the white container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7030284967339839204.mp4"}
+{"uid":"17512924757700760195","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket 8- Put the plastic spoon in pen stand 9- Put the plastic spoon in pen stand 10- Put the plastic spoon in pen stand 11- Put the plastic spoon in pen stand 12- Put the brown packet in basket 13- Put the brown packet in basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the brown 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket 8- Put the plastic spoon in pen stand 9- Put the plastic spoon in pen stand 10- Put the plastic spoon in pen stand 11- Put the plastic spoon in pen stand 12- Put the brown packet in basket 13- Put the brown packet in 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 brown packet in basket\n\u003c/PRED\u003e","video":"1456531484964977146.mp4"}
+{"uid":"11851452603880754537","text":"\u003ctask:success:discrete:False\u003e\npour 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:discriminative:discrete:True\u003e\npour 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour the pistachios in the bowl\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- open the glass jar lid 2- move the bowl to the glass jar Q: immediate next step? \u003cPRED\u003eA: pour 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- open the glass jar lid 2- move the bowl to the glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- pour the pistachios in the bowl 2- pour the pistachios in the bowl 3- pour the pistachios in the bowl 4- put the scooper in the holder 5- close the glass jar lid\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour 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: pour the pistachios in the bowl\n\u003c/PRED\u003e","video":"7955491414406636560.mp4"}
+{"uid":"3752879600102837830","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the plastic spoon in pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10325776237046472530.mp4"}
+{"uid":"6164501823820318027","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in stand 2- Put the brown packet in basket 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the plastic spoon in pen 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl Q: immediate next step? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e","video":"18073010286572793150.mp4"}
+{"uid":"11113761291178970910","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":"13486365243418169007.mp4"}
+{"uid":"13349983948733972415","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place orange in the bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace 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\nPlace 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: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Place orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place orange in the bowl\n\u003c/PRED\u003e","video":"7337771199033851202.mp4"}
+{"uid":"4942357406586593062","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the black 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":"13101536185229283372.mp4"}
+{"uid":"10104600218663087676","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in white bowl 2- Put the brown packet in basket 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e","video":"14516125681234648294.mp4"}
+{"uid":"1973409790658397802","text":"\u003ctask:success:discrete:True\u003e\nPut the brown 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 brown packet in basket\n\u003c/PRED\u003e","video":"10848269734222757222.mp4"}
+{"uid":"14266088808464659934","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Move the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket Q: immediate next step? \u003cPRED\u003eA: Move the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Move the packet in the basket 2- Put the brown packet in basket 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9260800146376675034.mp4"}
+{"uid":"2480895948965173867","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":"7303081148179637767.mp4"}
+{"uid":"1331704796484236658","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket\n\u003c/PRED\u003e","video":"3164957082022050922.mp4"}
+{"uid":"2786861069198643108","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- open the glass jar lid 2- move the bowl to the glass jar 3- pour the pistachios in the bowl 4- pour the pistachios in the bowl 5- pour 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- open the glass jar lid 2- move the bowl to the glass jar 3- pour the pistachios in the bowl 4- pour the pistachios in the bowl 5- pour 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: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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the glass jar lid\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: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","video":"12040564241631929888.mp4"}
+{"uid":"14251604305853039783","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios Q: immediate next step? \u003cPRED\u003eA: pour 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- open the glass jar lid 2- move the bowl to the glass jar 3- pour the pistachios in the bowl 4- pour the pistachios in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pour the pistachios in the bowl 2- put the scooper in the holder 3- close the glass jar lid 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour 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- open the glass jar lid 2- move the bowl to the glass jar 3- pour the pistachios in the bowl 4- pour the pistachios in the bowl Q: immediate next step? \u003cPRED\u003eA: pour the pistachios in the bowl\n\u003c/PRED\u003e","video":"14982728277407402692.mp4"}
+{"uid":"12890978366170045514","text":"\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- open the glass jar lid 2- move the bowl to the glass jar 3- pour the pistachios in the bowl 4- pour the pistachios in the bowl 5- pour the pistachios in the bowl Q: immediate next step? \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\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:generative:positive:freeform\u003e\nQ: what action is possible right now? \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- open the glass jar lid 2- move the bowl to the glass jar 3- pour the pistachios in the bowl 4- pour the pistachios in the bowl 5- pour 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: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","video":"15765074011127234772.mp4"}
+{"uid":"2762861167622281771","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in white bowl 2- Put the brown packet in basket 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl Q: immediate next step? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14030263538710666774.mp4"}
+{"uid":"17650035844528435205","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in black 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 put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: put spoon in black cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket 8- Put the plastic spoon in pen stand 9- Put the plastic spoon in pen stand 10- Put the plastic spoon in pen stand Q: immediate next step? \u003cPRED\u003eA: put spoon in black cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in black cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in black cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon in black 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 put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket 8- Put the plastic spoon in pen stand 9- Put the plastic spoon in pen stand 10- Put the plastic spoon in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in black cup 2- Put the brown packet in basket 3- Put the brown packet in basket 4- done\n\u003c/PRED\u003e","video":"3940920436335864132.mp4"}
+{"uid":"10248287965856661431","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the plastic spoon in pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1933277661549155127.mp4"}
+{"uid":"17624883754845447518","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket 8- Put the plastic spoon in pen stand 9- Put the plastic spoon in pen stand 10- Put the plastic spoon in pen stand 11- Put the plastic spoon in pen stand 12- Put the brown packet in basket Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown 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 brown packet in basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket 8- Put the plastic spoon in pen stand 9- Put the plastic spoon in pen stand 10- Put the plastic spoon in pen stand 11- Put the plastic spoon in pen stand 12- Put the brown packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in basket 2- done\n\u003c/PRED\u003e","video":"8835809146819584037.mp4"}
+{"uid":"15453163421280249752","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove 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":"8450156660702797569.mp4"}
+{"uid":"10626975086031944138","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":"10636392578419062688.mp4"}
+{"uid":"13523992720700000305","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Place orange in the bowls\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace orange in 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place orange in the bowls\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace orange in 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place orange in the bowls 2- Put the brown packet in basket 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place orange in the bowls\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl Q: immediate next step? \u003cPRED\u003eA: Place orange in the bowls\n\u003c/PRED\u003e","video":"3472707311281447431.mp4"}
+{"uid":"409340753258082027","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":"3701368092600483056.mp4"}
+{"uid":"3618140338269017259","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npour 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- open the glass jar lid 2- move the bowl to the glass jar 3- pour the pistachios in the bowl Q: immediate next step? \u003cPRED\u003eA: pour 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: pour 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- open the glass jar lid 2- move the bowl to the glass jar 3- pour the pistachios in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pour the pistachios in the bowl 2- pour 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour the pistachios in the bowl\n\u003c/PRED\u003e","video":"4130456493249555277.mp4"}
+{"uid":"14992803825195730819","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pool ball rack on the sofa Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8724217632862684139.mp4"}
+{"uid":"5117493347243186475","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the packet into basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the packet into basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Move the packet into basket 2- Put the brown packet in basket 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl Q: immediate next step? \u003cPRED\u003eA: Move the packet into basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the packet into basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Move the packet into basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the packet into 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":"17616728106775263897.mp4"}
+{"uid":"9366927497766112987","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the marker in a container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2425900830930474279.mp4"}
+{"uid":"17149323591359270016","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":"12694617475405076641.mp4"}
+{"uid":"8582757493518259024","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7983295493505820671.mp4"}
+{"uid":"4452698863727274176","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":"2320674540633073269.mp4"}
+{"uid":"3523387152601666660","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in basket 2- Put the brown packet in basket 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the plastic spoon in pen stand\n\u003c/PRED\u003e","video":"949465173042604564.mp4"}
+{"uid":"5982983502901324044","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket Q: immediate next step? \u003cPRED\u003eA: put spoon in black cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in black cup 2- Put the plastic spoon in pen stand 3- Put the plastic spoon in pen stand 4- Put the brown packet in basket 5- Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in black 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 spoon in black 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 spoon in black cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in black cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: put spoon in black cup\n\u003c/PRED\u003e","video":"16124781873681541405.mp4"}
+{"uid":"4855784076404134486","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink packets on stands Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8538326464359036924.mp4"}
+{"uid":"13744553332601921107","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in basket 2- Put the plastic spoon in pen stand 3- Put the plastic spoon in pen stand 4- Put the plastic spoon in pen stand 5- Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e","video":"514319985532096361.mp4"}
+{"uid":"8976246322972165519","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoon 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":"14908374690434466712.mp4"}
+{"uid":"1102063628315605758","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10104362738415068772.mp4"}
+{"uid":"14242908633234052194","text":"\u003ctask:success:discrete:True\u003e\nPut the brown 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 brown packet in basket\n\u003c/PRED\u003e","video":"16999415773023656742.mp4"}
+{"uid":"9732436740395024319","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in stand 2- Put the brown packet in basket 3- Put the plastic spoon in pen stand 4- Put the plastic spoon in pen stand 5- Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white 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: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: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 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":"14922628964922821683.mp4"}
+{"uid":"11106865749116000686","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":"11504489785492443883.mp4"}
+{"uid":"5247450208244204241","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the bowl to the glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the bowl to the glass jar\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- open the glass jar lid Q: next 5 steps? \u003cPRED\u003eA: 1- move the bowl to the glass jar 2- pour the pistachios in the bowl 3- pour the pistachios in the bowl 4- pour the pistachios in the bowl 5- put the scooper in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the bowl to the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the bowl to the glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- open the glass jar lid Q: immediate next step? \u003cPRED\u003eA: move the bowl to the glass jar\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: move the bowl to the glass jar\n\u003c/PRED\u003e","video":"1273541425003456332.mp4"}
+{"uid":"11712906746635766227","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket Q: immediate next step? \u003cPRED\u003eA: Move the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Move the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Move the packet in the basket 2- Put the brown packet in basket 3- Put the plastic spoon in pen stand 4- Put the plastic spoon in pen stand 5- Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the packet in the basket\n\u003c/PRED\u003e","video":"274402213761754144.mp4"}
+{"uid":"9564848885230176639","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown 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 put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in basket 2- Put the brown packet in basket 3- Put the plastic spoon in pen stand 4- Put the plastic spoon in pen stand 5- Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e","video":"17668638663858950661.mp4"}
+{"uid":"5335292050883126321","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic knife on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1932786206388961477.mp4"}
+{"uid":"15791686058501941286","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in stand 2- Put the brown packet in basket 3- Put the plastic spoon in pen stand 4- Put the plastic spoon in pen stand 5- Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e","video":"8599914275957938386.mp4"}
+{"uid":"3077144650201418367","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npour 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":"12175392055195083329.mp4"}
+{"uid":"13748095371005907092","text":"\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: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\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: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- open the glass jar lid 2- move the bowl to the glass jar 3- pour the pistachios in the bowl 4- pour the pistachios in the bowl 5- pour the pistachios in the bowl\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: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: open the glass jar lid\n\u003c/PRED\u003e","video":"3476220873173288768.mp4"}
+{"uid":"16234580718933873145","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2218089702183416207.mp4"}
+{"uid":"14987939041534091969","text":"\u003ctask:success:discrete:True\u003e\nPut the brown 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 brown packet in basket\n\u003c/PRED\u003e","video":"10260690648611944885.mp4"}
+{"uid":"16931709849321366669","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":"14725000176607233307.mp4"}
+{"uid":"5962244061099658972","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":"8685102504117466413.mp4"}
+{"uid":"14212912936815748354","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"16172846202688388734.mp4"}
+{"uid":"12217148085643695719","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown 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 brown packet in basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in basket 2- Put the brown packet in basket 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e","video":"14419264603355815744.mp4"}
+{"uid":"1079059923582520294","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrag 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":"1978338884228952973.mp4"}
+{"uid":"16815292406271119277","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket 8- Put the plastic spoon in pen stand 9- Put the plastic spoon in pen stand 10- Put the plastic spoon in pen stand 11- Put the plastic spoon in pen stand 12- Put the brown packet in basket 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket 8- Put the plastic spoon in pen stand 9- Put the plastic spoon in pen stand 10- Put the plastic spoon in pen stand 11- Put the plastic spoon in pen stand 12- Put the brown packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in 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 stand\n\u003c/PRED\u003e","video":"14760000889854109845.mp4"}
+{"uid":"4145682057179022490","text":"\u003ctask:success:discrete:True\u003e\npour 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour the pistachios in the bowl\n\u003c/PRED\u003e","video":"9202228938233599736.mp4"}
+{"uid":"4081916641606421289","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red 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":"6616685136336359855.mp4"}
+{"uid":"5887983198201231224","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":"4441652869992132909.mp4"}
+{"uid":"4632760278198461982","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- open the glass jar lid 2- move the bowl to the glass jar 3- pour the pistachios in the bowl 4- pour the pistachios in the bowl 5- pour 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: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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please go make me a bowl of pistachios . last 20 steps: 1- open the glass jar lid 2- move the bowl to the glass jar 3- pour the pistachios in the bowl 4- pour the pistachios in the bowl 5- pour 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","video":"3862302815119918304.mp4"}
+{"uid":"11378967811658368135","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Move the packet in the baskets 2- Put the brown packet in basket 3- Put the plastic spoon in pen stand 4- Put the plastic spoon in pen stand 5- Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the packet in the baskets\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the packet in the baskets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket Q: immediate next step? \u003cPRED\u003eA: Move the packet in the baskets\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the packet in the baskets\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the packet in the baskets Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Move the packet in the baskets\n\u003c/PRED\u003e","video":"7509331672997953346.mp4"}
+{"uid":"14313573627084348715","text":"\u003ctask:success:discrete:False\u003e\nput orange in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in white bowl 2- Put the brown packet in basket 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket\n\u003c/PRED\u003e","video":"6626946137187594376.mp4"}
+{"uid":"9241600408362562879","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon in black cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon in black cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket 8- Put the plastic spoon in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon in black cup 2- Put the plastic spoon in pen stand 3- Put the plastic spoon in pen stand 4- Put the brown packet in basket 5- Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon in black cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket 8- Put the plastic spoon in pen stand Q: immediate next step? \u003cPRED\u003eA: put spoon in black cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: put spoon in black cup\n\u003c/PRED\u003e","video":"13066494657791112024.mp4"}
+{"uid":"9052091888616176470","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":"4210910107198642482.mp4"}
+{"uid":"9288557990517018573","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the brown 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","video":"6641256106275081465.mp4"}
+{"uid":"7082362612740040274","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bowl 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":"6605869855587915786.mp4"}
+{"uid":"521272717966112930","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white 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\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in stand 2- Put the brown packet in basket 3- Put the brown packet in basket 4- Put the plastic spoon in pen stand 5- Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket Q: immediate next step? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e","video":"6632018570949593698.mp4"}
+{"uid":"13449728708030346779","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the spoons 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":"10086359081071820573.mp4"}
+{"uid":"3576714314655704994","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in basket 2- Put the brown packet in basket 3- Put the brown packet in basket 4- Put the plastic spoon in pen stand 5- Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown 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 brown packet in basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in basket\n\u003c/PRED\u003e","video":"14670473496480929773.mp4"}
+{"uid":"7109196474618825488","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in stand 2- Put the plastic spoon in pen stand 3- Put the plastic spoon in pen stand 4- Put the plastic spoon in pen stand 5- Put the plastic spoon in pen 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:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white 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: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket Q: immediate next step? \u003cPRED\u003eA: put packet in stand\n\u003c/PRED\u003e","video":"3554544751777804906.mp4"}
+{"uid":"1961595514766299907","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour the pistachios in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npour 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":"7859093625793734483.mp4"}
+{"uid":"11744452654314765668","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket 8- Put the plastic spoon in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoon in pen stand 2- Put the plastic spoon in pen stand 3- Put the plastic spoon in pen stand 4- Put the brown packet in basket 5- Put the brown packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket 8- Put the plastic spoon in pen stand Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic spoon in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10837643464709055390.mp4"}
+{"uid":"5702338861672072128","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic spoon in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket 8- Put the plastic spoon in pen stand 9- Put the plastic spoon in pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic spoon in pen stand 2- Put the plastic spoon in pen stand 3- Put the brown packet in basket 4- Put the brown packet in basket 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. last 20 steps: 1- Put the orange in white bowl 2- Put the orange in white bowl 3- Put the brown packet in basket 4- Put the brown packet in basket 5- Put the brown packet in basket 6- Put the brown packet in basket 7- Put the brown packet in basket 8- Put the plastic spoon in pen stand 9- Put the plastic spoon in pen stand Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the oatmeal back into the metal basket.  also put the spoons back into the black cup and the orages back into the white bowl. Q: immediate next step? \u003cPRED\u003eA: Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic spoon in pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic spoon in pen stand\n\u003c/PRED\u003e","video":"5833539472224143180.mp4"}
+{"uid":"6696284992716969154","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red bull on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8938506464945503169.mp4"}
+{"uid":"13971258869668091407","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":"8083450314624340214.mp4"}
+{"uid":"17914620031341352147","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the 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:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \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: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: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the tray 2- place a white packet in the tray 3- place a white packet in the tray 4- place a white packet in the tray 5- place a white packet in the tray\n\u003c/PRED\u003e","video":"4067673633243171958.mp4"}
+{"uid":"163653969074053298","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":"11789350234961236756.mp4"}
+{"uid":"18009877134988079562","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray 11- place a white packet in the tray 12- place a white packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray 11- place a white packet in the tray 12- place a white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the white packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15118240042431688798.mp4"}
+{"uid":"1776425865216195117","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange packet in the tray 2- put the white packet in the tray 3- place a white packet in the tray 4- place a white packet in the tray 5- place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e","video":"8118793289511735670.mp4"}
+{"uid":"910853304337793268","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the salt 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":"6973898132519406288.mp4"}
+{"uid":"13362508200482625552","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange the wire Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10218134110076777018.mp4"}
+{"uid":"17519126733187646047","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":"4565108548469625596.mp4"}
+{"uid":"16967495092587911440","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6809883749150505634.mp4"}
+{"uid":"2301577031941985641","text":"\u003ctask:success:discrete:True\u003e\nput the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e","video":"2855701781895286570.mp4"}
+{"uid":"3052062044201319575","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the tray 2- place a white packet in the tray 3- place a white 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 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","video":"13498842291620401790.mp4"}
+{"uid":"5204218602200773193","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a 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:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray 11- place a white packet in the tray Q: immediate next step? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray 11- place a white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a white packet in the tray 2- place a white packet in the tray 3- 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\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a 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":"15389791699348796508.mp4"}
+{"uid":"16121472619484043707","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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the tray 2- place a white packet in the tray 3- place a white packet in the tray 4- place a white packet in the tray 5- place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the 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:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e","video":"9848436839717230140.mp4"}
+{"uid":"712176533821963536","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove basket to 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":"5725914445312430221.mp4"}
+{"uid":"8324756133867067879","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a 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":"7831222825915341136.mp4"}
+{"uid":"12521877108786144287","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2666970749302438276.mp4"}
+{"uid":"7136068395424041295","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a 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: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a white packet in the tray 2- place a white packet in the tray 3- place a white packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray Q: immediate next step? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e","video":"16774698059405953855.mp4"}
+{"uid":"13106646652782399758","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a white packet in the tray 2- place a white packet in the tray 3- place a white packet in the tray 4- place a white packet in the tray 5- place a 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray Q: immediate next step? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a 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\nplace a 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e","video":"15115351258274662800.mp4"}
+{"uid":"8853941324605838799","text":"\u003ctask:success:discrete:True\u003e\nput the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e","video":"2154008869044395295.mp4"}
+{"uid":"4144922383729431062","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray Q: immediate next step? \u003cPRED\u003eA: place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a red 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 a red packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- put the white packet in the tray 5- place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a red packet in the tray\n\u003c/PRED\u003e","video":"17204528016320146370.mp4"}
+{"uid":"16198876506731053041","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e","video":"13869733279633381029.mp4"}
+{"uid":"5462779269082970198","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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:success:discrete:False\u003e\nplace the brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place the brown 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 brown packet in the tray\n\u003c/PRED\u003e","video":"5072580419469525338.mp4"}
+{"uid":"16791956119952201848","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray 11- place a white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the white packet in the tray 2- place a white packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray 11- place a white packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e","video":"915974978995195419.mp4"}
+{"uid":"8389254680715508790","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the white packet in the tray 2- place a white packet in the tray 3- place a white packet in the tray 4- place a white packet in the tray 5- place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e","video":"11208282030976695693.mp4"}
+{"uid":"12422256358667728403","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the yellow ball in the left side transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7357600113072092494.mp4"}
+{"uid":"503884198877695097","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a red 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":"8146738863617307221.mp4"}
+{"uid":"9079567461114060496","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a red 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":"16800161686468598032.mp4"}
+{"uid":"5296979139461171311","text":"\u003ctask:success:discrete:False\u003e\nmove white packet 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: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: move white packet backward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move white packet backward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove white packet 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: move white packet backward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray 11- place a white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- move white packet backward 2- place a white packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray 11- place a white packet in the tray Q: immediate next step? \u003cPRED\u003eA: move white packet backward\n\u003c/PRED\u003e","video":"15061104863540985806.mp4"}
+{"uid":"16399595726563081974","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":"11848154721735918317.mp4"}
+{"uid":"13721906748947550216","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"12625783192127548896.mp4"}
+{"uid":"17696172736932832546","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":"15631087246936940332.mp4"}
+{"uid":"1963569916168821512","text":"\u003ctask:success:discrete:False\u003e\nplace the brown 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: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- put the white packet in the tray 5- place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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":"15099046943170348177.mp4"}
+{"uid":"13816892185703926844","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray 11- place a white packet in the tray 12- place a white packet in the tray Q: immediate next step? \u003cPRED\u003eA: move white packet to backward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove white packet to backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move white packet to backward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move white packet to backward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray 11- place a white packet in the tray 12- place a white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- move white packet to backward 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove white packet to 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: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: move white packet to backward\n\u003c/PRED\u003e","video":"4719432586216581259.mp4"}
+{"uid":"10500669638689619661","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the paper bowl upside right on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9947961744903200501.mp4"}
+{"uid":"12790041409250534418","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the soft 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":"10300976393402165172.mp4"}
+{"uid":"2395586171527122759","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the  packet to the edge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the  packet to the edge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 to the edge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place the  packet to the edge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the  packet to the edge 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the  packet to the edge\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the  packet to the edge\n\u003c/PRED\u003e","video":"6967397425285521707.mp4"}
+{"uid":"15049960180205183081","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a red 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 a red 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 a red packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a red packet in the tray\n\u003c/PRED\u003e","video":"9532970375684481466.mp4"}
+{"uid":"103064056120824542","text":"\u003ctask:success:discrete:False\u003e\nplace the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the white packet in the tray 2- place a white packet in the tray 3- place a white packet in the tray 4- done\n\u003c/PRED\u003e","video":"6611850100155111897.mp4"}
+{"uid":"17617324828673835861","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a brown sugar packet inside the organizer box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5422316742054550866.mp4"}
+{"uid":"2308929542331549427","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":"16444902284052243311.mp4"}
+{"uid":"13947448204758291350","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4468843856046941417.mp4"}
+{"uid":"3195784842231164695","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the brown 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: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown packet in the tray\n\u003c/PRED\u003e","video":"14294935983787891468.mp4"}
+{"uid":"8806545170023066902","text":"\u003ctask:success:discrete:True\u003e\nplace a red 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 a red packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e","video":"10038192889131486765.mp4"}
+{"uid":"13559372580815163007","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":"1999026374230635232.mp4"}
+{"uid":"5292389388293172259","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange inside 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":"13622829615786698255.mp4"}
+{"uid":"11887222751076210025","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the tray 2- place a white packet in the tray 3- place a white packet in the tray 4- place a white 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 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:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK 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: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e","video":"13884971383127059029.mp4"}
+{"uid":"10684498947567453819","text":"\u003ctask:success:discrete:True\u003e\nplace a red 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 a red packet in the tray\n\u003c/PRED\u003e","video":"1830630111979915744.mp4"}
+{"uid":"2967481253005475478","text":"\u003ctask:success:discrete:True\u003e\nplace the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e","video":"7342480850124986917.mp4"}
+{"uid":"1896335877203911444","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"10135589554297204316.mp4"}
+{"uid":"5764050563918111666","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":"11043014732786807493.mp4"}
+{"uid":"16778080966579737241","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":"8386782446573246022.mp4"}
+{"uid":"10221602545074324012","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the brown 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: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown packet in the tray 2- place a red packet in the tray 3- put the white packet in the tray 4- place a white packet in the tray 5- place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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":"50230019446094031.mp4"}
+{"uid":"9604682972973004104","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown packet in the tray 2- put the white packet in the tray 3- place a white packet in the tray 4- place a white packet in the tray 5- place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place the brown 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 brown packet in the tray\n\u003c/PRED\u003e","video":"7767472015195754162.mp4"}
+{"uid":"6312029655460830658","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the cross block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12060842926651334173.mp4"}
+{"uid":"2098554151298717863","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove your arm upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7924186151426700249.mp4"}
+{"uid":"9553019601461340913","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cap on 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":"9486434596368743258.mp4"}
+{"uid":"13815687875840863268","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the 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":"5880172425547628462.mp4"}
+{"uid":"4274035892352065776","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange packet on the bottom of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange packet on the bottom of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange packet on the bottom of the table 2- place a red packet in the tray 3- put the white packet in the tray 4- place a white packet in the tray 5- place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the orange packet on the bottom of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange packet on the bottom of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange packet on the bottom of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the orange packet on the bottom of the table\n\u003c/PRED\u003e","video":"9597438431056541151.mp4"}
+{"uid":"15259512349694933300","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":"7033690085040777457.mp4"}
+{"uid":"8087492623839142372","text":"\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray 11- place a white packet in the tray 12- place a white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray 11- place a white packet in the tray 12- place a white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the white 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 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:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e","video":"11335270865202099438.mp4"}
+{"uid":"5080518389742420423","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":"15607940726535146456.mp4"}
+{"uid":"15012936251008983228","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- 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: place the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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":"1521247193807389025.mp4"}
+{"uid":"7849272819552940684","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a red 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":"392845716469927474.mp4"}
+{"uid":"1436408421420903239","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15238345715320792707.mp4"}
+{"uid":"11418005093326840615","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":"9781790575445907887.mp4"}
+{"uid":"510418267081595858","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray 11- place a white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the tray 2- place a white packet in the tray 3- done\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray 11- place a white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK 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:affordance:discriminative:discrete:False\u003e\nput the marker 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":"15753511352754678919.mp4"}
+{"uid":"15350796710387181577","text":"\u003ctask:success:discrete:True\u003e\nplace the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e","video":"8797858013443494580.mp4"}
+{"uid":"8195086399297973053","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a white 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":"5578797897123357744.mp4"}
+{"uid":"10462813251707067804","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray Q: immediate next step? \u003cPRED\u003eA: place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a red packet in the tray 2- place a red packet in the tray 3- put the white packet in the tray 4- place a white packet in the tray 5- place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a red 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":"8978818072962575815.mp4"}
+{"uid":"6601859602000182059","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":"15070787304047445860.mp4"}
+{"uid":"5628072396497835652","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a red 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: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray Q: immediate next step? \u003cPRED\u003eA: place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- put the white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place a red packet in the tray\n\u003c/PRED\u003e","video":"6231121022453643262.mp4"}
+{"uid":"2023530782907140809","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17727892095424370034.mp4"}
+{"uid":"10947637704751542238","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray Q: immediate next step? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a white packet in the tray 2- place a white packet in the tray 3- place a white packet in the tray 4- place a white packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e","video":"13995955922330127338.mp4"}
+{"uid":"6967336905693768912","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":"5714712808721920299.mp4"}
+{"uid":"10323750710795294973","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red marker in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14779271516448366880.mp4"}
+{"uid":"2096156867546846080","text":"\u003ctask:success:discrete:True\u003e\nplace a red 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 a red packet in the tray\n\u003c/PRED\u003e","video":"15139533292517643756.mp4"}
+{"uid":"3355597328308333848","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange packet in the tray 2- place a red packet in the tray 3- put the white packet in the tray 4- place a white packet in the tray 5- place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e","video":"5698116737279460935.mp4"}
+{"uid":"8612415540019738022","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the marker 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":"7803887128993760424.mp4"}
+{"uid":"4384565194175752844","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a white packet in the tray 2- place a white packet in the tray 3- place a white packet in the tray 4- place a white packet in the tray 5- place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray Q: immediate next step? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e","video":"6061870814731135650.mp4"}
+{"uid":"2462600114216667895","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- put the white packet in the tray 5- place a 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 orange packet in the tray\n\u003c/PRED\u003e","video":"4313004750097859304.mp4"}
+{"uid":"9796569326370702154","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sandisk pack on the left table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9229015359433883032.mp4"}
+{"uid":"8414043539117903833","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6734631061403992345.mp4"}
+{"uid":"7474486726062382488","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"14525536759108333857.mp4"}
+{"uid":"157474845595843849","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray 11- place a white packet in the tray 12- place a white packet in the tray Q: immediate next step? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray 11- place a white packet in the tray 12- place a white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a white packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place a white packet in the tray\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\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a 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: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":"14753457376366096709.mp4"}
+{"uid":"6051205604333545489","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the white packet in the tray 2- place a white packet in the tray 3- place a white packet in the tray 4- place a white packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e","video":"9905033435628752550.mp4"}
+{"uid":"480471426145779948","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":"16847783475457443155.mp4"}
+{"uid":"12262826479698327108","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray 11- place a white packet in the tray 12- place a white packet in the tray 13- place a white 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 a white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a 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: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray 11- place a white packet in the tray 12- place a white packet in the tray 13- place a white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"15064426683491851837.mp4"}
+{"uid":"9347387691647629458","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the wood slab Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8874414180684689850.mp4"}
+{"uid":"13470764793223192534","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9028692698898991561.mp4"}
+{"uid":"13921781499242032095","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":"14119947721390346167.mp4"}
+{"uid":"4975865790015967158","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e","video":"13220521945097160364.mp4"}
+{"uid":"18007065058325495034","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":"10277934840441600063.mp4"}
+{"uid":"17971767995917253798","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the 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":"111634128725998414.mp4"}
+{"uid":"8701769985467357474","text":"\u003ctask:success:discrete:True\u003e\nplace the 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: place the brown packet in the tray\n\u003c/PRED\u003e","video":"8394890867332703302.mp4"}
+{"uid":"15930808700302991631","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7163318159235313376.mp4"}
+{"uid":"8450032620155688947","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the tray 2- place a white packet in the tray 3- place a white packet in the tray 4- place a white packet in the tray 5- place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the 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: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: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the white packet in the tray\n\u003c/PRED\u003e","video":"8426536238135432658.mp4"}
+{"uid":"12421180343279720805","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the tray\n\u003c/PRED\u003e","video":"10177389030502809544.mp4"}
+{"uid":"16451729718192077655","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray Q: immediate next step? \u003cPRED\u003eA: place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a red 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: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a red packet in the tray\n\u003c/PRED\u003e","video":"14807568680445123187.mp4"}
+{"uid":"229040821360097360","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray 11- place a white packet in the tray 12- place a white packet in the tray 13- place the white 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: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray 11- place a white packet in the tray 12- place a white packet in the tray 13- place the white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9653409162591881542.mp4"}
+{"uid":"10065306141048843454","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a 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":"17729251343827629288.mp4"}
+{"uid":"8232639782759151764","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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray 11- place a white packet in the tray 12- place a white packet in the tray 13- put the white 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: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray 9- place a white packet in the tray 10- place a white packet in the tray 11- place a white packet in the tray 12- place a white packet in the tray 13- put the white packet in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17062130797895199174.mp4"}
+{"uid":"3862232357473779946","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky notes 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":"17102356581570104395.mp4"}
+{"uid":"14846118724448440007","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a white packet in the tray\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\u003ctask:success:discrete:True\u003e\nplace a 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: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":"10685879104455438737.mp4"}
+{"uid":"4259533841438585765","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the stack on the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1354996309779798716.mp4"}
+{"uid":"9107511451218439015","text":"\u003ctask:success:discrete:True\u003e\nplace the 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: place the brown packet in the tray\n\u003c/PRED\u003e","video":"11480853584712145746.mp4"}
+{"uid":"16070337655804134344","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"3643625451010612841.mp4"}
+{"uid":"799943343028303886","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the white packet in the tray 2- place a white packet in the tray 3- place a white packet in the tray 4- place a white packet in the tray 5- place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray 7- put the white packet in the tray 8- place a white packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e","video":"10300029612865126260.mp4"}
+{"uid":"1872941002178449362","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the 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":"7674141147109357027.mp4"}
+{"uid":"9477572725214905815","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":"17026143541078341264.mp4"}
+{"uid":"6788123127888252022","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the white packet in the tray 2- place a white packet in the tray 3- place a white packet in the tray 4- place a white packet in the tray 5- place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray 6- place a red packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e","video":"12776456809780304183.mp4"}
+{"uid":"11794806035055782862","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a red 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 a red packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a red packet in the tray 2- put the white packet in the tray 3- place a white packet in the tray 4- place a white packet in the tray 5- place a white packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a red packet in the tray 2- place a red packet in the tray 3- place a red packet in the tray 4- place a red packet in the tray 5- place a red packet in the tray Q: immediate next step? \u003cPRED\u003eA: place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a red packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place a red packet in the tray\n\u003c/PRED\u003e","video":"11642695243250742008.mp4"}
+{"uid":"8592445188167554233","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chip bag in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4533527790188702182.mp4"}
+{"uid":"2746618215943814669","text":"\u003ctask:success:discrete:True\u003e\ndrop the cup on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the cup on a table\n\u003c/PRED\u003e","video":"11889709856959006930.mp4"}
+{"uid":"10810790977897161383","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep candy in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep candy in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep candy in glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: keep candy in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass Q: immediate next step? \u003cPRED\u003eA: keep candy in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass Q: next 5 steps? \u003cPRED\u003eA: 1- keep candy in glass 2- drop the orange candy in a cup 3- put the cup on a table 4- pick up glass kept on previous table 5- Put the paper glass on the table\n\u003c/PRED\u003e","video":"12143817381675353329.mp4"}
+{"uid":"14709275892686840907","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace an apple 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":"9248138184182558674.mp4"}
+{"uid":"11495230033069399443","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange candy in 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: drop the orange candy in a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange candy in a cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange candy in 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:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: drop the orange candy in a cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass Q: immediate next step? \u003cPRED\u003eA: drop the orange candy in a cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange candy in a cup 2- keep candy in glass 3- keep pistachio in glass 4- keep candy in glass 5- keep candy in glass\n\u003c/PRED\u003e","video":"8710699892244538278.mp4"}
+{"uid":"2793011350318451581","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio in glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put pistachio in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass Q: immediate next step? \u003cPRED\u003eA: put pistachio in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in glass 2- put pistachio in glass 3- put candy in glass 4- keep pistachio in glass 5- keep candy in glass\n\u003c/PRED\u003e","video":"18204333465724794787.mp4"}
+{"uid":"7790901996986986083","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep pistachio in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep pistachio in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep pistachio in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep pistachio in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: keep pistachio in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass Q: immediate next step? \u003cPRED\u003eA: keep pistachio in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass Q: next 5 steps? \u003cPRED\u003eA: 1- keep pistachio in glass 2- keep candy in glass 3- keep candy in glass 4- drop the orange candy in a cup 5- put the cup on a table\n\u003c/PRED\u003e","video":"5177272193510812252.mp4"}
+{"uid":"14395763123157109399","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pistachio in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass Q: immediate next step? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pistachio in the paper glass 2- put candy in glass 3- keep pistachio in glass 4- keep candy in glass 5- keep pistachio in glass\n\u003c/PRED\u003e","video":"5290776536459873352.mp4"}
+{"uid":"14168062180826825605","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":"15776046191243189819.mp4"}
+{"uid":"4490100500286174326","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the right 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":"18349368504886280124.mp4"}
+{"uid":"12215994587779923726","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the kettle 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":"11426170319060018020.mp4"}
+{"uid":"4373321046566116693","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pistachio in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pistachio in 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:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass Q: immediate next step? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pistachio in the paper glass 2- keep candy in glass 3- keep pistachio in glass 4- keep candy in glass 5- keep candy in glass\n\u003c/PRED\u003e","video":"15367872408598679150.mp4"}
+{"uid":"14067034928106097306","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy 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":"5378793850377677932.mp4"}
+{"uid":"6422200905215231771","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoon in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13076529182972133617.mp4"}
+{"uid":"10126717574891889155","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange candy in 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: drop the orange candy in a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange candy in a cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange candy in 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:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: drop the orange candy in a cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass Q: immediate next step? \u003cPRED\u003eA: drop the orange candy in a cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange candy in a cup 2- keep pistachio in glass 3- keep candy in glass 4- keep candy in glass 5- drop the orange candy in a cup\n\u003c/PRED\u003e","video":"16250125271729901512.mp4"}
+{"uid":"1244459137657463036","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cup on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup on a table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cup on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the cup on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup Q: immediate next step? \u003cPRED\u003eA: put the cup on a table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup on a table 2- pick up glass kept on previous table 3- Put the paper glass on the table 4- tear a paper from the paper machine 5- keep paper on table\n\u003c/PRED\u003e","video":"8558906673313244500.mp4"}
+{"uid":"11367292978637162708","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8610544489316322986.mp4"}
+{"uid":"11448770863420116709","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tray 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":"6000560111500412921.mp4"}
+{"uid":"3615107415855673865","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":"5582388821569724009.mp4"}
+{"uid":"3247073519789314143","text":"\u003ctask:success:discrete:True\u003e\nPut the paper glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the paper glass on the table\n\u003c/PRED\u003e","video":"15024333343833759020.mp4"}
+{"uid":"14284526922488704167","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen 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":"13533181755314584307.mp4"}
+{"uid":"2685380893089329901","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the tissue paper on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 tissue paper on a table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the tissue paper on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the tissue paper on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: drop the tissue paper on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup 11- put the cup on a table 12- pick up glass kept on previous table 13- Put the paper glass on the table Q: immediate next step? \u003cPRED\u003eA: drop the tissue paper on a table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup 11- put the cup on a table 12- pick up glass kept on previous table 13- Put the paper glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the tissue paper on a table 2- done\n\u003c/PRED\u003e","video":"2343147732413868553.mp4"}
+{"uid":"17282729709953480374","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the rold gold packet left side in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17971497699955283580.mp4"}
+{"uid":"17552668760292686316","text":"\u003ctask:success:discrete:True\u003e\ndrop the orange candy in a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the orange candy in a cup\n\u003c/PRED\u003e","video":"12888411056807506961.mp4"}
+{"uid":"9107628948529019906","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep paper 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: keep paper on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep paper on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep paper 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: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: keep paper on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup 11- put the cup on a table 12- pick up glass kept on previous table 13- Put the paper glass on the table 14- tear a paper from the paper machine Q: immediate next step? \u003cPRED\u003eA: keep paper on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup 11- put the cup on a table 12- pick up glass kept on previous table 13- Put the paper glass on the table 14- tear a paper from the paper machine Q: next 5 steps? \u003cPRED\u003eA: 1- keep paper on table 2- done\n\u003c/PRED\u003e","video":"6177430115492452288.mp4"}
+{"uid":"4392225963768322317","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nAdjust the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8535255374706860199.mp4"}
+{"uid":"8371718143854333408","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange candy in 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: drop the orange candy in a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange candy in a cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange candy in 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:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: drop the orange candy in a cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass Q: immediate next step? \u003cPRED\u003eA: drop the orange candy in a cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange candy in a cup 2- put the cup on a table 3- pick up glass kept on previous table 4- Put the paper glass on the table 5- tear a paper from the paper machine\n\u003c/PRED\u003e","video":"16263915988755529784.mp4"}
+{"uid":"17353756657108703917","text":"\u003ctask:success:discrete:True\u003e\nkeep candy in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep candy in glass\n\u003c/PRED\u003e","video":"4522260051699984846.mp4"}
+{"uid":"11129518161371350630","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep glass 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: keep glass on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep glass on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep glass 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: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: keep glass on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup Q: immediate next step? \u003cPRED\u003eA: keep glass on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup Q: next 5 steps? \u003cPRED\u003eA: 1- keep glass on table 2- pick up glass kept on previous table 3- Put the paper glass on the table 4- tear a paper from the paper machine 5- keep paper on table\n\u003c/PRED\u003e","video":"10413821079407931912.mp4"}
+{"uid":"8708091092155106164","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep pistachio in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep pistachio in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep pistachio in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep pistachio in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: keep pistachio in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass Q: immediate next step? \u003cPRED\u003eA: keep pistachio in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass Q: next 5 steps? \u003cPRED\u003eA: 1- keep pistachio in glass 2- keep candy in glass 3- keep pistachio in glass 4- keep candy in glass 5- keep candy in glass\n\u003c/PRED\u003e","video":"3951640784981222556.mp4"}
+{"uid":"4660524969417579932","text":"\u003ctask:success:discrete:True\u003e\nput pistachio in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pistachio in glass\n\u003c/PRED\u003e","video":"8596903295477960766.mp4"}
+{"uid":"7173507572214345627","text":"\u003ctask:success:discrete:True\u003e\nPut the paper glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the paper glass on the table\n\u003c/PRED\u003e","video":"6302277358362227330.mp4"}
+{"uid":"5858729520444445424","text":"\u003ctask:success:discrete:True\u003e\nPut the tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\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 paper on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup 11- put the cup on a table 12- pick up glass kept on previous table 13- Put the paper glass on the table 14- Put the tissue paper on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup 11- put the cup on a table 12- pick up glass kept on previous table 13- Put the paper glass on the table 14- Put the tissue paper on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10555333430805600209.mp4"}
+{"uid":"11473333973226803454","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio in glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put pistachio in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass Q: immediate next step? \u003cPRED\u003eA: put pistachio in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in glass 2- put candy in glass 3- keep pistachio in glass 4- keep candy in glass 5- keep pistachio in glass\n\u003c/PRED\u003e","video":"9420802860527956512.mp4"}
+{"uid":"6871355063674499208","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green 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":"14491388712338430867.mp4"}
+{"uid":"14903023242698402186","text":"\u003ctask:success:discrete:True\u003e\nput candy in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e","video":"5407275017715385894.mp4"}
+{"uid":"10841496102922084243","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet in the paper glass\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 paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange packet in 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:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet in the paper glass 2- put the cup on a table 3- pick up glass kept on previous table 4- Put the paper glass on the table 5- tear a paper from the paper machine\n\u003c/PRED\u003e","video":"15505489760609142780.mp4"}
+{"uid":"1988788063351021791","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":"9039107341057693343.mp4"}
+{"uid":"539102475170910284","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the sugar candy in 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: drop the sugar candy in a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the sugar candy in a cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the sugar candy in 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:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: drop the sugar candy in a cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass Q: immediate next step? \u003cPRED\u003eA: drop the sugar candy in a cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the sugar candy in a cup 2- keep candy in glass 3- drop the orange candy in a cup 4- put the cup on a table 5- pick up glass kept on previous table\n\u003c/PRED\u003e","video":"6368612263945755589.mp4"}
+{"uid":"12006784114361063530","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":"17785337312333233496.mp4"}
+{"uid":"11738295109820059869","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":"5026505976843647155.mp4"}
+{"uid":"2636717375251665853","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pistachio in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pistachio in 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:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass Q: immediate next step? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pistachio in the paper glass 2- keep candy in glass 3- keep candy in glass 4- drop the orange candy in a cup 5- put the cup on a table\n\u003c/PRED\u003e","video":"450575593829365109.mp4"}
+{"uid":"5667162537187473207","text":"\u003ctask:success:discrete:True\u003e\nkeep pistachio in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep pistachio in glass\n\u003c/PRED\u003e","video":"11690977197325931857.mp4"}
+{"uid":"10722106786639821315","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep candy in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep candy in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep candy in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep candy in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: keep candy in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass Q: immediate next step? \u003cPRED\u003eA: keep candy in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass Q: next 5 steps? \u003cPRED\u003eA: 1- keep candy in glass 2- keep pistachio in glass 3- keep candy in glass 4- keep candy in glass 5- drop the orange candy in a cup\n\u003c/PRED\u003e","video":"13840120616830269250.mp4"}
+{"uid":"296713057818772057","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":"11467853844125811296.mp4"}
+{"uid":"6120668018344019721","text":"\u003ctask:success:discrete:True\u003e\ntear a paper from the paper machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: tear a paper from the paper machine\n\u003c/PRED\u003e","video":"6981254598002530869.mp4"}
+{"uid":"6525551751654470348","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cup on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cup on a table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cup on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the cup on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: drop the cup on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup 11- put the cup on a table Q: immediate next step? \u003cPRED\u003eA: drop the cup on a table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup 11- put the cup on a table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cup on a table 2- tear a paper from the paper machine 3- keep paper on table 4- done\n\u003c/PRED\u003e","video":"4245442054866033900.mp4"}
+{"uid":"4388708837345902552","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":"17855251753936612619.mp4"}
+{"uid":"9141917809213959373","text":"\u003ctask:success:discrete:True\u003e\nput pistachio in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pistachio in glass\n\u003c/PRED\u003e","video":"6608470723359549962.mp4"}
+{"uid":"15041748087698286875","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pistachio in 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: drop the pistachio in a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pistachio in a cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pistachio in 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:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: drop the pistachio in a cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass Q: immediate next step? \u003cPRED\u003eA: drop the pistachio in a cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pistachio in a cup 2- put pistachio in glass 3- put candy in glass 4- keep pistachio in glass 5- keep candy in glass\n\u003c/PRED\u003e","video":"8148871535813199922.mp4"}
+{"uid":"9320022865417291454","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet in the paper glass\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 paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange packet in 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:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet in the paper glass 2- keep pistachio in glass 3- keep candy in glass 4- keep pistachio in glass 5- keep candy in glass\n\u003c/PRED\u003e","video":"2643102819583749326.mp4"}
+{"uid":"17282421719785278065","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass Q: immediate next step? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in glass 2- put the cup on a table 3- pick up glass kept on previous table 4- Put the paper glass on the table 5- tear a paper from the paper machine\n\u003c/PRED\u003e","video":"14300057231342659948.mp4"}
+{"uid":"16818919888184702850","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":"5694819339939465449.mp4"}
+{"uid":"9920869114298966414","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pistachio in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pistachio in 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:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass Q: immediate next step? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pistachio in the paper glass 2- put pistachio in glass 3- put candy in glass 4- keep pistachio in glass 5- keep candy in glass\n\u003c/PRED\u003e","video":"17539397905083323576.mp4"}
+{"uid":"11509382733393754744","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntouch 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":"11143548843341607350.mp4"}
+{"uid":"9056093295602244985","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":"13187697984110213993.mp4"}
+{"uid":"13258178234923611298","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"817880492721075369.mp4"}
+{"uid":"12100593184139093918","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pistachio in 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: drop the pistachio in a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pistachio in a cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pistachio in 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:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: drop the pistachio in a cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the pistachio in a cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pistachio in a cup 2- put pistachio in glass 3- put candy in glass 4- keep pistachio in glass 5- keep candy in glass\n\u003c/PRED\u003e","video":"2162393775132420641.mp4"}
+{"uid":"17365073192440304621","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":"1572829971075021634.mp4"}
+{"uid":"12601535286148613421","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"12585246680191996125.mp4"}
+{"uid":"10118855589230825754","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the 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 the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 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:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup 11- put the cup on a table 12- pick up glass kept on previous table 13- Put the paper glass on the table Q: immediate next step? \u003cPRED\u003eA: Put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup 11- put the cup on a table 12- pick up glass kept on previous table 13- Put the paper glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tissue paper on the table 2- done\n\u003c/PRED\u003e","video":"13934527978913763911.mp4"}
+{"uid":"13059412808051352803","text":"\u003ctask:success:discrete:True\u003e\nput the cup on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cup on a table\n\u003c/PRED\u003e","video":"6908828702853356022.mp4"}
+{"uid":"9755711095910438414","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pistachio in 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: drop the pistachio in a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pistachio in a cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pistachio in 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:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: drop the pistachio in a cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass Q: immediate next step? \u003cPRED\u003eA: drop the pistachio in a cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pistachio in a cup 2- keep candy in glass 3- keep pistachio in glass 4- keep candy in glass 5- keep candy in glass\n\u003c/PRED\u003e","video":"12748742526793886388.mp4"}
+{"uid":"4271857450765418345","text":"\u003ctask:success:discrete:True\u003e\nkeep paper 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: keep paper on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup 11- put the cup on a table 12- pick up glass kept on previous table 13- Put the paper glass on the table 14- tear a paper from the paper machine 15- keep paper on table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup 11- put the cup on a table 12- pick up glass kept on previous table 13- Put the paper glass on the table 14- tear a paper from the paper machine 15- keep paper on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10328830853003458700.mp4"}
+{"uid":"11356515849926720335","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up glass kept on previous table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 glass kept on previous table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up glass kept on previous table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up glass kept on previous table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: pick up glass kept on previous table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup 11- put the cup on a table Q: immediate next step? \u003cPRED\u003eA: pick up glass kept on previous table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup 11- put the cup on a table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up glass kept on previous table 2- tear a paper from the paper machine 3- keep paper on table 4- done\n\u003c/PRED\u003e","video":"12709578605590736785.mp4"}
+{"uid":"17158517663540706866","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":"11701256721588448002.mp4"}
+{"uid":"4408350777807674357","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet in the paper glass\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 paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange packet in 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:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet in the paper glass 2- keep pistachio in glass 3- keep candy in glass 4- keep candy in glass 5- drop the orange candy in a cup\n\u003c/PRED\u003e","video":"9372756656377849129.mp4"}
+{"uid":"1683234011161761325","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the regulator 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":"10824716692070109076.mp4"}
+{"uid":"12311467555419305340","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pistachio in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pistachio in 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:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pistachio in the paper glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass\n\u003c/PRED\u003e","video":"14333128474778089032.mp4"}
+{"uid":"4877820758229396697","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper 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 the paper glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the paper glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put the paper glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup Q: immediate next step? \u003cPRED\u003eA: Put the paper glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper glass on the table 2- pick up glass kept on previous table 3- Put the paper glass on the table 4- tear a paper from the paper machine 5- keep paper on table\n\u003c/PRED\u003e","video":"12953327971292961005.mp4"}
+{"uid":"11364420179852652246","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the 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":"7224465448840570895.mp4"}
+{"uid":"5117884254074660266","text":"\u003ctask:success:discrete:True\u003e\nput pistachio in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pistachio in glass\n\u003c/PRED\u003e","video":"12122299644522631367.mp4"}
+{"uid":"8296798331914262113","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":"10101438404199471948.mp4"}
+{"uid":"12639689324128572118","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ntear a paper from the paper machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: tear a paper from the paper machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: tear a paper from the paper machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntear a paper from the paper machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: tear a paper from the paper machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup 11- put the cup on a table 12- pick up glass kept on previous table 13- Put the paper glass on the table Q: immediate next step? \u003cPRED\u003eA: tear a paper from the paper machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup 11- put the cup on a table 12- pick up glass kept on previous table 13- Put the paper glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- tear a paper from the paper machine 2- keep paper on table 3- done\n\u003c/PRED\u003e","video":"9653147280444968406.mp4"}
+{"uid":"2067105024460456308","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":"13927322848167439299.mp4"}
+{"uid":"14159937658071383357","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet in the paper glass\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 paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange packet in 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:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet in the paper glass 2- keep candy in glass 3- drop the orange candy in a cup 4- put the cup on a table 5- pick up glass kept on previous table\n\u003c/PRED\u003e","video":"6297743653156721589.mp4"}
+{"uid":"11553881629250049775","text":"\u003ctask:success:discrete:True\u003e\nkeep glass 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: keep glass on table\n\u003c/PRED\u003e","video":"17210599890770225464.mp4"}
+{"uid":"17988515431214532506","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pistachio in 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: drop the pistachio in a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pistachio in a cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pistachio in 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:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: drop the pistachio in a cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass Q: immediate next step? \u003cPRED\u003eA: drop the pistachio in a cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pistachio in a cup 2- keep candy in glass 3- drop the orange candy in a cup 4- put the cup on a table 5- pick up glass kept on previous table\n\u003c/PRED\u003e","video":"842878336448625223.mp4"}
+{"uid":"17187569024299538623","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove 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":"8882350171233162975.mp4"}
+{"uid":"17262139619262525801","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet in the paper glass\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 paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange packet in 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:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet in the paper glass 2- drop the orange candy in a cup 3- put the cup on a table 4- pick up glass kept on previous table 5- Put the paper glass on the table\n\u003c/PRED\u003e","video":"2162369793504341559.mp4"}
+{"uid":"16958098721352066188","text":"\u003ctask:success:discrete:True\u003e\nkeep candy in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep candy in glass\n\u003c/PRED\u003e","video":"12875767546765412274.mp4"}
+{"uid":"5145480210497425281","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":"3711988901702673721.mp4"}
+{"uid":"8483970435817876219","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":"6404230465108870203.mp4"}
+{"uid":"17004387795671508180","text":"\u003ctask:success:discrete:True\u003e\nkeep candy in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep candy in glass\n\u003c/PRED\u003e","video":"5554607639703468250.mp4"}
+{"uid":"17467057321689663176","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop knife 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":"10728160718329148587.mp4"}
+{"uid":"8903485261466227277","text":"\u003ctask:success:discrete:True\u003e\npick up glass kept on previous table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 glass kept on previous table\n\u003c/PRED\u003e","video":"17370488329015213034.mp4"}
+{"uid":"9165560951400044390","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy 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":"989923964614014913.mp4"}
+{"uid":"11997487109260655001","text":"\u003ctask:success:discrete:True\u003e\ndrop the tissue paper on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 paper on a table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup 11- put the cup on a table 12- pick up glass kept on previous table 13- Put the paper glass on the table 14- drop the tissue paper on a table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup 11- put the cup on a table 12- pick up glass kept on previous table 13- Put the paper glass on the table 14- drop the tissue paper on a table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"5546427081239817315.mp4"}
+{"uid":"10542588460653196427","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper 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 the paper glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the paper glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put the paper glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup 11- put the cup on a table Q: immediate next step? \u003cPRED\u003eA: Put the paper glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup 11- put the cup on a table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper glass on the table 2- tear a paper from the paper machine 3- keep paper on table 4- done\n\u003c/PRED\u003e","video":"3773833156684999441.mp4"}
+{"uid":"6208719448953355196","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"18310291473755785246.mp4"}
+{"uid":"2133965020324615134","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass Q: immediate next step? \u003cPRED\u003eA: put candy in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in glass 2- keep candy in glass 3- keep pistachio in glass 4- keep candy in glass 5- keep candy in glass\n\u003c/PRED\u003e","video":"12133946739898374333.mp4"}
+{"uid":"12137430098837659191","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pistachio in 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: drop the pistachio in a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pistachio in a cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: drop the pistachio in a cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass Q: immediate next step? \u003cPRED\u003eA: drop the pistachio in a cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pistachio in a cup 2- put candy in glass 3- keep pistachio in glass 4- keep candy in glass 5- keep pistachio in glass\n\u003c/PRED\u003e","video":"1100127705715360787.mp4"}
+{"uid":"12691844155506816734","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":"17132704040365665698.mp4"}
+{"uid":"7615004752327957552","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":"5890420848873414212.mp4"}
+{"uid":"4720858017149633810","text":"\u003ctask:success:discrete:True\u003e\nkeep glass 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: keep glass on table\n\u003c/PRED\u003e","video":"838228521445215995.mp4"}
+{"uid":"8454317210940427095","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"7453105339865702089.mp4"}
+{"uid":"5233878519742122870","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput pistachio in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pistachio in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pistachio in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pistachio in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put pistachio in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put pistachio in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass\n\u003c/PRED\u003e","video":"14906166279759825872.mp4"}
+{"uid":"13117258866360268542","text":"\u003ctask:success:discrete:True\u003e\nkeep pistachio in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep pistachio in glass\n\u003c/PRED\u003e","video":"13592181941590715643.mp4"}
+{"uid":"16667900918238027059","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the box 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":"16311463959460530113.mp4"}
+{"uid":"18232501530044912406","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep glass 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: keep glass on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep glass on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep glass 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: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: keep glass on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup 11- put the cup on a table 12- pick up glass kept on previous table Q: immediate next step? \u003cPRED\u003eA: keep glass on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass 8- keep candy in glass 9- keep candy in glass 10- drop the orange candy in a cup 11- put the cup on a table 12- pick up glass kept on previous table Q: next 5 steps? \u003cPRED\u003eA: 1- keep glass on table 2- tear a paper from the paper machine 3- keep paper on table 4- done\n\u003c/PRED\u003e","video":"10872008598551683021.mp4"}
+{"uid":"9912837176586830358","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep candy in glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep candy in glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep candy in glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep candy in glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: keep candy in glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass Q: immediate next step? \u003cPRED\u003eA: keep candy in glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put pistachio in glass 2- put pistachio in glass 3- put pistachio in glass 4- put candy in glass 5- keep pistachio in glass 6- keep candy in glass 7- keep pistachio in glass Q: next 5 steps? \u003cPRED\u003eA: 1- keep candy in glass 2- keep candy in glass 3- drop the orange candy in a cup 4- put the cup on a table 5- pick up glass kept on previous table\n\u003c/PRED\u003e","video":"17112591615930414166.mp4"}
+{"uid":"17295722302662499531","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the left 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":"6176864106887560392.mp4"}
+{"uid":"2418720951851017016","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer 8- put the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- adjust the packet 3- put the packet in the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer 8- put the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e","video":"14833659922262157465.mp4"}
+{"uid":"15234531304048977440","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the drawer 2- Put the brown chip bag in the drawer 3- adjust the packet 4- put the packet in the drawer 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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","video":"9324810550613722013.mp4"}
+{"uid":"6744599810649271479","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green jalapeno chip bag in the drawer 2- put packet in the drawer 3- put the packet in the drawer 4- Put the brown chip bag in the drawer 5- adjust the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green jalapeno chip bag 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 open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: Put the green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green jalapeno chip bag 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","video":"8416529659647982183.mp4"}
+{"uid":"10899114096358034576","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"4470521928452699778.mp4"}
+{"uid":"15823300051993275879","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the drawer 2- put packet in the drawer 3- put the packet in the drawer 4- Put the brown chip bag in the drawer 5- adjust the packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e","video":"8701008352350300680.mp4"}
+{"uid":"17405301913314500252","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up a glass from the stack of glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6154983046227077870.mp4"}
+{"uid":"8812749972388152469","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":"3515309389495662972.mp4"}
+{"uid":"9882441650471670497","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":"3981238257125004773.mp4"}
+{"uid":"5479499387788664381","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the drawer 2- put packet in the drawer 3- Put the green rice chip bag in the drawer 4- Put the green jalapeno chip bag in the drawer 5- put packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e","video":"16464388804172336934.mp4"}
+{"uid":"8769205671152268891","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- put packet in the drawer 3- Put the green rice chip bag in the drawer 4- Put the green jalapeno chip bag in the drawer 5- put packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e","video":"9688885969738461470.mp4"}
+{"uid":"15657057001878045972","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":"18056349716427351955.mp4"}
+{"uid":"15303288339814045070","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the 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","video":"15776112865704572729.mp4"}
+{"uid":"3673293458609997983","text":"\u003ctask:success:discrete:True\u003e\nput the 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: put the packet in the drawer\n\u003c/PRED\u003e","video":"3255475793665221813.mp4"}
+{"uid":"2402032243520877792","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into the rolling tr olley tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12455055857147482103.mp4"}
+{"uid":"11388293137225552512","text":"\u003ctask:success:discrete:True\u003e\nPut the green rice chip bag 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 green rice chip bag in the drawer\n\u003c/PRED\u003e","video":"10586443486584619963.mp4"}
+{"uid":"10279091877910424178","text":"\u003ctask:success:discrete:True\u003e\nput 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: put packet in the drawer\n\u003c/PRED\u003e","video":"12599168992050477919.mp4"}
+{"uid":"3453223206730338072","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the 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","video":"15517643782428988377.mp4"}
+{"uid":"16805876495221062717","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the blue chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue chip bag 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 blue chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue chip bag 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 open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: Put the blue chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue chip bag in the drawer 2- Put the green rice chip bag in the drawer 3- Put the green jalapeno chip bag in the drawer 4- put packet in the drawer 5- put the packet in the drawer\n\u003c/PRED\u003e","video":"14450401162249992930.mp4"}
+{"uid":"5925048913522371036","text":"\u003ctask:success:discrete:True\u003e\nput 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: put packet in the drawer\n\u003c/PRED\u003e","video":"8373867817562996728.mp4"}
+{"uid":"9567186319558381237","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer 8- put the packet in the drawer 9- Put the brown chip bag in the drawer 10- adjust the packet Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue chip bag in the drawer 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: Put the blue chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer 8- put the packet in the drawer 9- Put the brown chip bag in the drawer 10- adjust the packet Q: immediate next step? \u003cPRED\u003eA: Put the blue chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue chip bag in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue chip bag 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","video":"10668224949892617535.mp4"}
+{"uid":"17490625289998210815","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14356060749135173447.mp4"}
+{"uid":"9175294367240698316","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- put the packet in the drawer 3- Put the brown chip bag in the drawer 4- adjust the packet 5- put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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","video":"11819015849497122592.mp4"}
+{"uid":"1699288463182364163","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":"463456236003804277.mp4"}
+{"uid":"16720806664306560272","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTouch 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":"14469192849131319246.mp4"}
+{"uid":"1890375995849316286","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the drawer 2- Put the green jalapeno chip bag in the drawer 3- put packet in the drawer 4- put the packet in the drawer 5- Put the brown chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e","video":"10195942643915918132.mp4"}
+{"uid":"11597373622844582829","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":"302729907921160062.mp4"}
+{"uid":"12915898723581257500","text":"\u003ctask:success:discrete:True\u003e\nput 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: put packet in the drawer\n\u003c/PRED\u003e","video":"8399407657726641272.mp4"}
+{"uid":"8684806606032776782","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":"17586262710152318065.mp4"}
+{"uid":"7038751765728706313","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the 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:affordance:discriminative:discrete:True\u003e\nput the 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the drawer 2- Put the green rice chip bag in the drawer 3- Put the green jalapeno chip bag in the drawer 4- put packet in the drawer 5- put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e","video":"5307768803584116438.mp4"}
+{"uid":"17061977855448557962","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the blue chip bag 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 blue chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer 8- put the packet in the drawer 9- Put the brown chip bag in the drawer 10- adjust the packet 11- Put the blue chip bag in the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer 8- put the packet in the drawer 9- Put the brown chip bag in the drawer 10- adjust the packet 11- Put the blue chip bag in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"3916500346310959833.mp4"}
+{"uid":"12989253323284154225","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green rice chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green rice chip bag in the drawer 2- Put the brown chip bag in the drawer 3- adjust the packet 4- put the packet in the drawer 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green rice chip bag in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green rice chip bag in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the green rice chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: Put the green rice chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green rice chip bag in the drawer\n\u003c/PRED\u003e","video":"5622508096285599174.mp4"}
+{"uid":"2649543846775921446","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer Q: immediate next step? \u003cPRED\u003eA: Put the green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green jalapeno chip bag 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green jalapeno chip bag in the drawer 2- put packet in the drawer 3- put packet in the drawer 4- Put the green rice chip bag in the drawer 5- Put the green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: Put the green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green jalapeno chip bag 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","video":"11154503028700587145.mp4"}
+{"uid":"14002700059916706857","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer 8- put the packet in the drawer 9- Put the brown chip bag in the drawer 10- adjust the packet 11- put the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer 8- put the packet in the drawer 9- Put the brown chip bag in the drawer 10- adjust the packet 11- put the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the 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","video":"1415803715370880796.mp4"}
+{"uid":"5099127313084300000","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer 8- put the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer 8- put the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the drawer 2- put the packet in the drawer 3- done\n\u003c/PRED\u003e","video":"8003527538683244874.mp4"}
+{"uid":"14190001800274495008","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards 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":"1445087649372444574.mp4"}
+{"uid":"6531841087094731824","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the brown chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the brown chip bag 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":"5464022583424217626.mp4"}
+{"uid":"7546616278969282704","text":"\u003ctask:success:discrete:True\u003e\nPut the brown chip bag 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 brown chip bag in the drawer\n\u003c/PRED\u003e","video":"13308616513709620170.mp4"}
+{"uid":"10753288771540704535","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the berry 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":"8191866949896830553.mp4"}
+{"uid":"14847472560193023652","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen into the pen case Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8933017299857761102.mp4"}
+{"uid":"18018736522344588015","text":"\u003ctask:success:discrete:True\u003e\nput the 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: put the packet in the drawer\n\u003c/PRED\u003e","video":"8089708842646928583.mp4"}
+{"uid":"8181969830912912637","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nupright the paper cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10628894340694629853.mp4"}
+{"uid":"11813292160850887604","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer 8- put the packet in the drawer 9- Put the brown chip bag in the drawer 10- adjust the packet Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the 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: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer 8- put the packet in the drawer 9- Put the brown chip bag in the drawer 10- adjust the packet Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the drawer 2- done\n\u003c/PRED\u003e","video":"15806465637614869724.mp4"}
+{"uid":"3110299501862083072","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up 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":"2569667887915361518.mp4"}
+{"uid":"361835164157871153","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the drawer\n\u003c/PRED\u003e","video":"3291851506670230677.mp4"}
+{"uid":"7435017356069752045","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: please open the top drawer and place all the chips into the drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in 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 open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"5145369794986887759.mp4"}
+{"uid":"14455886323559161831","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the chocolate ball 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":"5446394496501165399.mp4"}
+{"uid":"5182737021225863610","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":"192175895017292363.mp4"}
+{"uid":"13261021089589046807","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown chip bag in the drawer 2- put the packet in the drawer 3- Put the brown chip bag in the drawer 4- adjust the packet 5- put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown chip bag 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: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the brown chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown chip bag in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: Put the brown chip bag in the drawer\n\u003c/PRED\u003e","video":"11902705486713277877.mp4"}
+{"uid":"13108084035644834115","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":"12068572601718723179.mp4"}
+{"uid":"17434177846137710474","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- Put the brown chip bag in the drawer 3- adjust the packet 4- put the packet in the drawer 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e","video":"16398806295573477912.mp4"}
+{"uid":"9666252643741815601","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the duster Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15458038127495654357.mp4"}
+{"uid":"14103967233682514360","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":"17257727646812640005.mp4"}
+{"uid":"308136196342292075","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packets in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12234221267086032198.mp4"}
+{"uid":"5088842173252739879","text":"\u003ctask:success:discrete:True\u003e\nPut the green jalapeno chip bag 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 green jalapeno chip bag in the drawer\n\u003c/PRED\u003e","video":"1990397521908528501.mp4"}
+{"uid":"4962012880407873319","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer 8- put the packet in the drawer 9- Put the brown chip bag in the drawer 10- adjust the packet Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer 8- put the packet in the drawer 9- Put the brown chip bag in the drawer 10- adjust the packet Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e","video":"11729457973303253016.mp4"}
+{"uid":"11806495080904852423","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the 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","video":"14437676816633570417.mp4"}
+{"uid":"5001768400388605296","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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","video":"10862290274766527080.mp4"}
+{"uid":"11178812023954139231","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red 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":"11013971807622392236.mp4"}
+{"uid":"7308640178649946280","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green rice chip bag in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green rice chip bag 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green rice chip bag in the drawer 2- Put the green jalapeno chip bag in the drawer 3- put packet in the drawer 4- put the packet in the drawer 5- Put the brown chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the green rice chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green rice chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: Put the green rice chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green rice chip bag in the drawer\n\u003c/PRED\u003e","video":"17472237225578660213.mp4"}
+{"uid":"4878115153616304239","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow marker in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11072543426647947948.mp4"}
+{"uid":"15166829963622615605","text":"\u003ctask:success:discrete:True\u003e\nput 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer 8- put the packet in the drawer 9- Put the brown chip bag in the drawer 10- adjust the packet 11- put packet in the drawer 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 the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer 8- put the packet in the drawer 9- Put the brown chip bag in the drawer 10- adjust the packet 11- put packet in the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12656788878232189102.mp4"}
+{"uid":"10778036653056010266","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer 8- put the packet in the drawer 9- Put the brown chip bag in the drawer Q: immediate next step? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer 8- put the packet in the drawer 9- Put the brown chip bag in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the packet 2- put the packet in the drawer 3- done\n\u003c/PRED\u003e","video":"680688276036279958.mp4"}
+{"uid":"6207898105898281155","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green jalapeno chip bag in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: Put the green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green jalapeno chip bag in the drawer 2- put packet in the drawer 3- Put the green rice chip bag in the drawer 4- Put the green jalapeno chip bag in the drawer 5- put packet in the drawer\n\u003c/PRED\u003e","video":"16397804395010655289.mp4"}
+{"uid":"3764757827916122141","text":"\u003ctask:success:discrete:False\u003e\nput the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the drawer 2- put the packet in the drawer 3- Put the brown chip bag in the drawer 4- adjust the packet 5- put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e","video":"6480079758555313788.mp4"}
+{"uid":"9242124709865855415","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":"8549114480574334537.mp4"}
+{"uid":"12167423409304635190","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer 8- put the packet in the drawer 9- Put the brown chip bag in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the packet 2- put the packet in the drawer 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer 8- put the packet in the drawer 9- Put the brown chip bag in the drawer Q: immediate next step? \u003cPRED\u003eA: adjust the packet\n\u003c/PRED\u003e","video":"3134676498695453365.mp4"}
+{"uid":"11934809151714028612","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candies 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":"12445018384052917856.mp4"}
+{"uid":"11826136014986435677","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":"2131161157651965122.mp4"}
+{"uid":"1675992603965902179","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- Put the green rice chip bag in the drawer 3- Put the green jalapeno chip bag in the drawer 4- put packet in the drawer 5- put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put packet in the drawer\n\u003c/PRED\u003e","video":"17091276983856189956.mp4"}
+{"uid":"15598133455914648147","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- put packet in the drawer 3- put the packet in the drawer 4- Put the brown chip bag in the drawer 5- adjust the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e","video":"17789224301638721891.mp4"}
+{"uid":"13109744978349872318","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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","video":"15880781573843454135.mp4"}
+{"uid":"7963534420983564505","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":"16908525252962515388.mp4"}
+{"uid":"17905903586705015079","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":"17540673828884394312.mp4"}
+{"uid":"10183992079541865645","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask: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":"14256310042879432460.mp4"}
+{"uid":"11155883146968688592","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a 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":"14640367940600368793.mp4"}
+{"uid":"5729980860798074155","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the drawer 2- put packet in the drawer 3- put packet in the drawer 4- Put the green rice chip bag in the drawer 5- Put the green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer Q: immediate next step? \u003cPRED\u003eA: put the packet in the drawer\n\u003c/PRED\u003e","video":"14372122629789468727.mp4"}
+{"uid":"18201281113692154745","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:success:discrete:False\u003e\nput 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- put packet in the drawer 3- put packet in the drawer 4- Put the green rice chip bag in the drawer 5- Put the green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e","video":"17419833835513471515.mp4"}
+{"uid":"8541588756371945561","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the drawer 2- Put the green jalapeno chip bag in the drawer 3- put packet in the drawer 4- put the packet in the drawer 5- Put the brown chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the drawer\n\u003c/PRED\u003e","video":"4354081596981951164.mp4"}
+{"uid":"3304271815355173944","text":"\u003ctask:success:discrete:False\u003e\nArrange the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer 8- put the packet in the drawer 9- Put the brown chip bag in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the packet in the drawer 2- put the packet in the drawer 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the packet in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: Arrange the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer 8- put the packet in the drawer 9- Put the brown chip bag in the drawer Q: immediate next step? \u003cPRED\u003eA: Arrange the packet in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the packet in the drawer\n\u003c/PRED\u003e","video":"12580761764237705583.mp4"}
+{"uid":"9358751834494888024","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":"52012036041910301.mp4"}
+{"uid":"15401900664637284631","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer Q: immediate next step? \u003cPRED\u003eA: Put the brown chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer 8- put the packet in the drawer Q: immediate next step? \u003cPRED\u003eA: Put the brown chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown chip bag in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown chip bag 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 brown chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the top drawer and place all the chips into the drawer. last 20 steps: 1- Open the drawer 2- put the packet in the drawer 3- put packet in the drawer 4- put packet in the drawer 5- Put the green rice chip bag in the drawer 6- Put the green jalapeno chip bag in the drawer 7- put packet in the drawer 8- put the packet in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown chip bag in the drawer 2- adjust the packet 3- put the packet in the drawer 4- done\n\u003c/PRED\u003e","video":"4855503144694145225.mp4"}
+{"uid":"5193824424749917367","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the sticky notes into the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6740935099494442587.mp4"}
+{"uid":"5579899954454627522","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cane on yellow table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2266414663076591293.mp4"}
+{"uid":"7852854063273227391","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the right pot 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 right pot 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 plants into the green bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the right pot from the table 2- Grab the right side potted plant 3- Place the potted plant in the green tray 4- Slightly move up 5- Slightly move back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: pick the right pot from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the right pot 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 pot from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the right pot from the table\n\u003c/PRED\u003e","video":"3476046991413414374.mp4"}
+{"uid":"72300896784754076","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the tray box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10304490285199823777.mp4"}
+{"uid":"8157885053192545135","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the potted plant in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11207324351212241489.mp4"}
+{"uid":"12812886200279315659","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npour 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\u003ctask:success:discrete:False\u003e\nGrab the left side potted plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table 8- place the pot in the green container Q: immediate next step? \u003cPRED\u003eA: Grab the left side potted plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table 8- place the pot in the green container Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the left side potted plant 2- Place the left side potted plant in the green tray 3- Move your arm back 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the left side potted plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the left side potted plant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: Grab the left side potted plant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the left side potted plant\n\u003c/PRED\u003e","video":"690099994938839082.mp4"}
+{"uid":"2046455047887819679","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the right pot from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the right pot 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":"524987674850027054.mp4"}
+{"uid":"13617159261679252065","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":"12807200671290874150.mp4"}
+{"uid":"12033943074070471943","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a potted plant\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick a potted plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"680585555347937391.mp4"}
+{"uid":"18303199512107995759","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the lid of the water glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the water glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the water glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the lid of the water glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please refill my water cup? Q: immediate next step? \u003cPRED\u003eA: Open the lid of the water glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please refill my water cup?. last 20 steps: 1- Put the water glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Open the lid of the water glass 2- Throw the lid in the trash 3- Place the glass on the water purifier 4- Fill the water glass 5- Put the water glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the lid of the water glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the lid of the water glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please refill my water cup?. last 20 steps: 1- Put the water glass on the table Q: immediate next step? \u003cPRED\u003eA: Open the lid of the water glass\n\u003c/PRED\u003e","video":"9967567715305653210.mp4"}
+{"uid":"17168529948235558448","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the right side potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the right side potted plant in the green tray 2- Place the potted plant in the green tray 3- Slightly move up 4- Slightly move back 5- pick the right pot from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the right side potted plant in the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the right side potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the right side potted plant in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: Place the right side potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the right side potted plant in the green tray\n\u003c/PRED\u003e","video":"12853047230162542853.mp4"}
+{"uid":"6765190456222085176","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cup in the 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":"15130932206658947087.mp4"}
+{"uid":"14016731482140000514","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: clean the table with the wiper\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclean the table with the wiper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4834068491992218156.mp4"}
+{"uid":"7575198227658872512","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the golden 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":"11106582967825415751.mp4"}
+{"uid":"12205860514683232584","text":"\u003ctask:success:discrete:False\u003e\nplace the potted plant in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the potted plant in the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: place the potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant Q: next 5 steps? \u003cPRED\u003eA: 1- place the potted plant in the green tray 2- Place the potted plant in the green tray 3- Slightly move up 4- Slightly move back 5- pick the right pot from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant Q: immediate next step? \u003cPRED\u003eA: place the potted plant in the green tray\n\u003c/PRED\u003e","video":"16557218865843066325.mp4"}
+{"uid":"16032532399430499135","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please refill my water cup?. last 20 steps: 1- Put the water glass on the table 2- Open the lid of the water glass 3- Throw the lid in the trash Q: next 5 steps? \u003cPRED\u003eA: 1- Place the glass on the water purifier 2- Fill the water glass 3- Put the water glass on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the glass on the water purifier\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the glass on the water purifier Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 glass on the water purifier Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nThrow the lid in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Throw the lid in the trash\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please refill my water cup? Q: immediate next step? \u003cPRED\u003eA: Place the glass on the water purifier\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please refill my water cup?. last 20 steps: 1- Put the water glass on the table 2- Open the lid of the water glass 3- Throw the lid in the trash Q: immediate next step? \u003cPRED\u003eA: Place the glass on the water purifier\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the glass on the water purifier\n\u003c/PRED\u003e","video":"15227266507121175181.mp4"}
+{"uid":"11413315615359220691","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back Q: next 5 steps? \u003cPRED\u003eA: 1- pick the right pot from the table 2- place the pot in the green container 3- Grab the left side potted plant 4- pick the potted plant 5- Place the left side potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the right pot from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: pick the right pot from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the right pot 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 right pot 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 plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back Q: immediate next step? \u003cPRED\u003eA: pick the right pot 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 pot from the table\n\u003c/PRED\u003e","video":"12056553841680954405.mp4"}
+{"uid":"5622282261035687751","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the potted plant 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":"7532986027388867746.mp4"}
+{"uid":"15120320516633341362","text":"\u003ctask:success:discrete:True\u003e\npick a potted plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a potted plant\n\u003c/PRED\u003e","video":"14717405017152535394.mp4"}
+{"uid":"13965257668127173233","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a potted plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a potted plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back Q: next 5 steps? \u003cPRED\u003eA: 1- pick a potted plant 2- Grab the left side potted plant 3- pick the potted plant 4- Place the left side potted plant in the green tray 5- Move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a potted plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a potted plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back Q: immediate next step? \u003cPRED\u003eA: pick a potted plant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: pick a potted plant\n\u003c/PRED\u003e","video":"12247488051433036020.mp4"}
+{"uid":"17939997906128688463","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the smart 50 packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12553503299255638542.mp4"}
+{"uid":"14647355350162565935","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a potted plant\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick a potted plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1841478598205670740.mp4"}
+{"uid":"16611918984411306495","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Fill the water glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Fill the water glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please refill my water cup? Q: immediate next step? \u003cPRED\u003eA: Fill the water glass\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the glass on the water purifier\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please refill my water cup?. last 20 steps: 1- Put the water glass on the table 2- Open the lid of the water glass 3- Throw the lid in the trash 4- Place the glass on the water purifier Q: immediate next step? \u003cPRED\u003eA: Fill the water glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nFill the water glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nFill the water 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: Can you please refill my water cup?. last 20 steps: 1- Put the water glass on the table 2- Open the lid of the water glass 3- Throw the lid in the trash 4- Place the glass on the water purifier Q: next 5 steps? \u003cPRED\u003eA: 1- Fill the water glass 2- Put the water glass on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the glass on the water purifier Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4612377571466263106.mp4"}
+{"uid":"15197573190087189401","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop black wire 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":"15229712953948038472.mp4"}
+{"uid":"8836544316680840027","text":"\u003ctask:success:discrete:True\u003e\nput the pen on the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am done using sanitizer can you put it back to printer room and bring me a pen to my desk. last 20 steps: 1- pick up the sanitizer 2- place the sanitizer on the table 3- pick up the blue pen 4- put the pen on the paper Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen on the paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am done using sanitizer can you put it back to printer room and bring me a pen to my desk. last 20 steps: 1- pick up the sanitizer 2- place the sanitizer on the table 3- pick up the blue pen 4- put the pen on the paper Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am done using sanitizer can you put it back to printer room and bring me a pen to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3331435876615837966.mp4"}
+{"uid":"16634267365718129845","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the wiper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 wiper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 the table in the library. Q: immediate next step? \u003cPRED\u003eA: place the wiper on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the wiper on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the table in the library. last 20 steps: 1- put the wiper on the table 2- clean the table with the wiper Q: next 5 steps? \u003cPRED\u003eA: 1- place the wiper on the table 2- clean the table with the wiper 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the wiper on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the table in the library. last 20 steps: 1- put the wiper on the table 2- clean the table with the wiper Q: immediate next step? \u003cPRED\u003eA: place the wiper on the table\n\u003c/PRED\u003e","video":"8598028920678842738.mp4"}
+{"uid":"11538020505242207131","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink shoes on right corner on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17672162665097256357.mp4"}
+{"uid":"2302125826658335726","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":"3998880081040023015.mp4"}
+{"uid":"15344952391869261509","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the potted plant in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1135737424424315386.mp4"}
+{"uid":"6400250895837464051","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pot in the green container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant Q: next 5 steps? \u003cPRED\u003eA: 1- place the pot in the green container 2- Grab the right side potted plant 3- Place the potted plant in the green tray 4- Slightly move up 5- Slightly move back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pot in the green container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: place the pot in the green container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pot in the green container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant Q: immediate next step? \u003cPRED\u003eA: place the pot in the green container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pot in the green container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7640016342468999697.mp4"}
+{"uid":"13830955777043051017","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Wipe the table in the library. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the table in the library. last 20 steps: 1- put the wiper on the table 2- clean the table with the wiper 3- place the wiper on the table 4- clean the table with the wiper Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: clean the table with the wiper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the table in the library. last 20 steps: 1- put the wiper on the table 2- clean the table with the wiper 3- place the wiper on the table 4- clean the table with the wiper Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclean the table with the wiper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8419135559545430550.mp4"}
+{"uid":"3069493522260260778","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please refill my water cup?. last 20 steps: 1- Put the water glass on the table 2- Open the lid of the water glass 3- Throw the lid in the trash 4- Place the glass on the water purifier 5- Fill the water glass 6- Put the water glass 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 water glass on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please refill my water cup? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please refill my water cup?. last 20 steps: 1- Put the water glass on the table 2- Open the lid of the water glass 3- Throw the lid in the trash 4- Place the glass on the water purifier 5- Fill the water glass 6- Put the water glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the water glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6044781730150199035.mp4"}
+{"uid":"8630160748740825164","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":"9409128399624456351.mp4"}
+{"uid":"3963324493259630429","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green 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":"15118851995479960901.mp4"}
+{"uid":"5327461143235419899","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: put the potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant Q: next 5 steps? \u003cPRED\u003eA: 1- put the potted plant in the green tray 2- Slightly move back 3- pick the right pot from the table 4- place the pot in the green container 5- Grab the left side potted plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant Q: immediate next step? \u003cPRED\u003eA: put the potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the potted plant in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the potted plant in the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14136156611046114685.mp4"}
+{"uid":"8871851765308653559","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pot in the green container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pot in the green container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pot in the green container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant Q: next 5 steps? \u003cPRED\u003eA: 1- place the pot in the green container 2- Slightly move back 3- pick the right pot from the table 4- place the pot in the green container 5- Grab the left side potted plant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: place the pot in the green container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant Q: immediate next step? \u003cPRED\u003eA: place the pot in the green container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pot in the green container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15275201669696897015.mp4"}
+{"uid":"9193198471039790108","text":"\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: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: place plants into the green 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table 8- place the pot in the green container 9- Grab the left side potted plant 10- pick the potted plant Q: immediate next step? \u003cPRED\u003eA: Move your arm back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table 8- place the pot in the green container 9- Grab the left side potted plant 10- pick the potted plant Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm back 2- done\n\u003c/PRED\u003e","video":"15816113203101807444.mp4"}
+{"uid":"3000149024820779385","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":"2907676390607754692.mp4"}
+{"uid":"3014226293241867351","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the table in the library. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the wiper on the table 2- clean the table with the wiper 3- place the wiper on the table 4- clean the table with the wiper 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Wipe the table in the library. Q: immediate next step? \u003cPRED\u003eA: put the wiper on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the wiper on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the table in the library. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the wiper on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the wiper on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 wiper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the wiper on the table\n\u003c/PRED\u003e","video":"5320667245131718062.mp4"}
+{"uid":"603997184532166907","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":"17288214244102952008.mp4"}
+{"uid":"980223280423003584","text":"\u003ctask:success:discrete:False\u003e\npick a potted plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a potted plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray Q: immediate next step? \u003cPRED\u003eA: pick a potted plant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a potted plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick a potted plant 2- Slightly move up 3- Slightly move back 4- pick the right pot from the table 5- place the pot in the green container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a potted plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: pick a potted plant\n\u003c/PRED\u003e","video":"33603422602767957.mp4"}
+{"uid":"9955876047569003443","text":"\u003ctask:success:discrete:True\u003e\npick the right pot 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 right pot from the table\n\u003c/PRED\u003e","video":"536639433518647127.mp4"}
+{"uid":"16706551524108444813","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the second left potted plant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: Pick up the second left potted plant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the second left potted plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the second left potted plant 2- Grab the left side potted plant 3- pick the potted plant 4- Place the left side potted plant in the green tray 5- Move your arm back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back Q: immediate next step? \u003cPRED\u003eA: Pick up the second left potted plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the second left potted plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the second left potted plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"153066569601957457.mp4"}
+{"uid":"16926604192964709481","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":"16390579383717203421.mp4"}
+{"uid":"6872602349681788769","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange 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":"1806379789801365611.mp4"}
+{"uid":"2474509591798823669","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nerase 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":"2519732397542419875.mp4"}
+{"uid":"8222946721269623296","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the second left potted plant\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the second left potted plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1992055758843012214.mp4"}
+{"uid":"10056925322005505903","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards 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":"2583036441355668866.mp4"}
+{"uid":"17695217050857640434","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: i am done using sanitizer can you put it back to printer room and bring me a pen to my desk Q: immediate next step? \u003cPRED\u003eA: put the pen on the paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen on the paper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen on the paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am done using sanitizer can you put it back to printer room and bring me a pen to my desk. last 20 steps: 1- pick up the sanitizer 2- place the sanitizer on the table 3- pick up the blue pen Q: immediate next step? \u003cPRED\u003eA: put the pen on the paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am done using sanitizer can you put it back to printer room and bring me a pen to my desk. last 20 steps: 1- pick up the sanitizer 2- place the sanitizer on the table 3- pick up the blue pen Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen on the paper 2- 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 paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen on the paper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15767077600505080210.mp4"}
+{"uid":"11999841531729378228","text":"\u003ctask:success:discrete:False\u003e\nplace the potted plant in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table 8- place the pot in the green container 9- Grab the left side potted plant 10- pick the potted plant Q: immediate next step? \u003cPRED\u003eA: place the potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table 8- place the pot in the green container 9- Grab the left side potted plant 10- pick the potted plant Q: next 5 steps? \u003cPRED\u003eA: 1- place the potted plant in the green tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the potted plant in the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: place the potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the potted plant in the green tray\n\u003c/PRED\u003e","video":"7477159815154392027.mp4"}
+{"uid":"16267335749855602465","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray Q: immediate next step? \u003cPRED\u003eA: pick the right pot from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the right pot from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the right pot from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the right pot 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 right pot from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick the right pot from the table 2- Slightly move up 3- Slightly move back 4- pick the right pot from the table 5- place the pot in the green container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: pick the right pot from the table\n\u003c/PRED\u003e","video":"11549793934905304754.mp4"}
+{"uid":"7479054061487407716","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table 8- place the pot in the green container Q: next 5 steps? \u003cPRED\u003eA: 1- pick the potted plant 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: pick the potted plant\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table 8- place the pot in the green container Q: immediate next step? \u003cPRED\u003eA: pick the potted plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the potted plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the potted plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the potted plant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: pick the potted plant\n\u003c/PRED\u003e","video":"4942785462302169985.mp4"}
+{"uid":"5059782964868537089","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table Q: immediate next step? \u003cPRED\u003eA: place the pot in the green container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pot in the green container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: place the pot in the green container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pot in the green container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pot in the green container 2- Grab the left side potted plant 3- pick the potted plant 4- Place the left side potted plant in the green tray 5- Move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pot in the green container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pot in the green container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17606295473894286336.mp4"}
+{"uid":"5165817369016479744","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: Grab the right side potted plant\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the right side potted plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the right side potted plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant Q: immediate next step? \u003cPRED\u003eA: Grab the right side potted plant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the right side potted plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the right side potted plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the right side potted plant 2- Place the potted plant in the green tray 3- Slightly move up 4- Slightly move back 5- pick the right pot from the table\n\u003c/PRED\u003e","video":"9000505131664648501.mp4"}
+{"uid":"13104471863013078307","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sanitizer on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 am done using sanitizer can you put it back to printer room and bring me a pen to my desk. last 20 steps: 1- pick up the sanitizer Q: next 5 steps? \u003cPRED\u003eA: 1- place the sanitizer on the table 2- pick up the blue pen 3- put the pen on the paper 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sanitizer on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am done using sanitizer can you put it back to printer room and bring me a pen to my desk Q: immediate next step? \u003cPRED\u003eA: place the sanitizer on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am done using sanitizer can you put it back to printer room and bring me a pen to my desk. last 20 steps: 1- pick up the sanitizer Q: immediate next step? \u003cPRED\u003eA: place the sanitizer on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sanitizer on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sanitizer on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10595757432827993889.mp4"}
+{"uid":"14959081723570461048","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":"3400292886836464834.mp4"}
+{"uid":"236898293401511642","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the water glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the water 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:success:discrete:False\u003e\nPut the water glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please refill my water cup? Q: immediate next step? \u003cPRED\u003eA: Put the water glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please refill my water cup?. last 20 steps: 1- Put the water glass on the table 2- Open the lid of the water glass 3- Throw the lid in the trash 4- Place the glass on the water purifier 5- Fill the water glass Q: immediate next step? \u003cPRED\u003eA: Put the water glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please refill my water cup?. last 20 steps: 1- Put the water glass on the table 2- Open the lid of the water glass 3- Throw the lid in the trash 4- Place the glass on the water purifier 5- Fill the water glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the water glass on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the water glass on the table\n\u003c/PRED\u003e","video":"9850160331866654341.mp4"}
+{"uid":"431301856055064679","text":"\u003ctask:success:discrete:True\u003e\nGrab the right side potted plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the right side potted plant\n\u003c/PRED\u003e","video":"10500880604126992999.mp4"}
+{"uid":"3372370212198189457","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray Q: immediate next step? \u003cPRED\u003eA: Slightly move up\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move up\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move up 2- Slightly move back 3- pick the right pot from the table 4- place the pot in the green container 5- Grab the left side potted plant\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move up\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: Slightly move up\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4208737921740115226.mp4"}
+{"uid":"4245001394321940302","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown pen in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13596417123589999927.mp4"}
+{"uid":"4843428087780778214","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pot in the green container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: place the pot in the green container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table 8- place the pot in the green container 9- Grab the left side potted plant 10- pick the potted plant Q: next 5 steps? \u003cPRED\u003eA: 1- place the pot in the green container 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table 8- place the pot in the green container 9- Grab the left side potted plant 10- pick the potted plant Q: immediate next step? \u003cPRED\u003eA: place the pot in the green container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pot in the green container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pot in the green container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pot in the green container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10150859651142078091.mp4"}
+{"uid":"7600116304660862402","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the lid in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5468931677494287180.mp4"}
+{"uid":"14505321550319190141","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: i am done using sanitizer can you put it back to printer room and bring me a pen to my desk Q: immediate next step? \u003cPRED\u003eA: pick up the blue pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am done using sanitizer can you put it back to printer room and bring me a pen to my desk. last 20 steps: 1- pick up the sanitizer 2- place the sanitizer on the table Q: immediate next step? \u003cPRED\u003eA: pick up the blue pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the blue pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the blue pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am done using sanitizer can you put it back to printer room and bring me a pen to my desk. last 20 steps: 1- pick up the sanitizer 2- place the sanitizer on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the blue pen 2- put the pen on the paper 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the blue pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the blue pen\n\u003c/PRED\u003e","video":"5622085008439069950.mp4"}
+{"uid":"7097336392146740020","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the 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":"3038815458871026880.mp4"}
+{"uid":"6230218996281876237","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the table with the wiper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclean the table with the wiper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclean the table with the wiper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 the table in the library. Q: immediate next step? \u003cPRED\u003eA: clean the table with the wiper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the table in the library. last 20 steps: 1- put the wiper on the table Q: next 5 steps? \u003cPRED\u003eA: 1- clean the table with the wiper 2- place the wiper on the table 3- clean the table with the wiper 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the table in the library. last 20 steps: 1- put the wiper on the table Q: immediate next step? \u003cPRED\u003eA: clean the table with the wiper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: clean the table with the wiper\n\u003c/PRED\u003e","video":"2444663164066602783.mp4"}
+{"uid":"5713851937008886253","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pot in the green container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pot in the green container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11735735132355966539.mp4"}
+{"uid":"4244162336553644162","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant Q: immediate next step? \u003cPRED\u003eA: Place the potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant Q: next 5 steps? \u003cPRED\u003eA: 1- Place the potted plant in the green tray 2- Slightly move up 3- Slightly move back 4- pick the right pot from the table 5- place the pot in the green container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the potted plant in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: Place the potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the potted plant in the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17860865513603870180.mp4"}
+{"uid":"18370411459277949017","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":"6677683411078704014.mp4"}
+{"uid":"10797667018860223044","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":"6792034996605990366.mp4"}
+{"uid":"11910162086066351281","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table 8- place the pot in the green container 9- Grab the left side potted plant 10- pick the potted plant 11- place the potted plant in the green tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green 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 potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the potted plant in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table 8- place the pot in the green container 9- Grab the left side potted plant 10- pick the potted plant 11- place the potted plant in the green tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10746019811550694726.mp4"}
+{"uid":"2556870364173084269","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the choco 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":"13519922144244974571.mp4"}
+{"uid":"3335781883525902382","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":"11841382518387790852.mp4"}
+{"uid":"7362253737760090994","text":"\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: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:planning:freeform\u003e\ncurrent goal is: place plants into the green bin 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up Q: immediate next step? \u003cPRED\u003eA: Slightly move back\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move back 2- pick the right pot from the table 3- place the pot in the green container 4- Grab the left side potted plant 5- pick the potted plant\n\u003c/PRED\u003e","video":"2430064596693121625.mp4"}
+{"uid":"9874048975219011092","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the right side potted plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Grab the right side potted plant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the right side potted plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the right side potted plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the right side potted plant\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the right side potted plant 2- Grab the right side potted plant 3- Place the potted plant in the green tray 4- Slightly move up 5- Slightly move back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: Grab the right side potted plant\n\u003c/PRED\u003e","video":"10395773010424529062.mp4"}
+{"uid":"7438208754832662073","text":"\u003ctask:success:discrete:True\u003e\nplace the pot in the green container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pot in the green container\n\u003c/PRED\u003e","video":"4867258090252808475.mp4"}
+{"uid":"3845758984819898278","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to 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":"15739585081261650805.mp4"}
+{"uid":"9265874412492611021","text":"\u003ctask:success:discrete:False\u003e\nMove towards the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the green tray 2- Grab the left side potted plant 3- pick the potted plant 4- Place the left side potted plant in the green tray 5- Move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the green tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table Q: immediate next step? \u003cPRED\u003eA: Move towards the green tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the green tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: Move towards the green tray\n\u003c/PRED\u003e","video":"1206034342077312640.mp4"}
+{"uid":"15799326430203673482","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the blue pen form the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"460524351771526935.mp4"}
+{"uid":"5788140701517485300","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick a potted plant Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick a potted plant\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: pick a potted plant\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a potted plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick a potted plant 2- Grab the right side potted plant 3- Place the potted plant in the green tray 4- Slightly move up 5- Slightly move back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a potted plant\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a potted plant\n\u003c/PRED\u003e","video":"17230966649369675611.mp4"}
+{"uid":"9153801859332320599","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7660956522951855932.mp4"}
+{"uid":"11283989653387120718","text":"\u003ctask:success:discrete:True\u003e\nplace the sanitizer on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 sanitizer on the table\n\u003c/PRED\u003e","video":"17261007604178819208.mp4"}
+{"uid":"1781465681963407588","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":"13647168275848586490.mp4"}
+{"uid":"3294913919777911418","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush the top indoor 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":"11902231989440175430.mp4"}
+{"uid":"12290515958333230190","text":"\u003ctask:success:discrete:True\u003e\nGrab the left side potted plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the left side potted plant\n\u003c/PRED\u003e","video":"11896877485928996678.mp4"}
+{"uid":"6490488026183391010","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":"55234736284152250.mp4"}
+{"uid":"2031550686887873897","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table 8- place the pot in the green container 9- Grab the left side potted plant 10- pick the potted plant 11- place the pot in the green container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pot in the green container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green 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 pot in the green container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table 8- place the pot in the green container 9- Grab the left side potted plant 10- pick the potted plant 11- place the pot in the green container Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"9507103658804156946.mp4"}
+{"uid":"8142623369610782667","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the left side potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the left side potted plant in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table 8- place the pot in the green container 9- Grab the left side potted plant 10- Place the left side potted plant in the green tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table 8- place the pot in the green container 9- Grab the left side potted plant 10- Place the left side potted plant in the green tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"12887120353563586666.mp4"}
+{"uid":"11354311982790966678","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"16985566895447516018.mp4"}
+{"uid":"2193234201137952327","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the egg into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10415241343591968960.mp4"}
+{"uid":"16376515972160604119","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the pot 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 pot 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: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: pick the pot from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pot from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table 8- place the pot in the green container Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pot from the table 2- Move your arm back 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table 8- place the pot in the green container Q: immediate next step? \u003cPRED\u003eA: pick the pot from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the pot from the table\n\u003c/PRED\u003e","video":"10265008332352760319.mp4"}
+{"uid":"6412211956352558373","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the potted plant in the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table Q: immediate next step? \u003cPRED\u003eA: Place the potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the potted plant in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: Place the potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the potted plant in the green tray 2- pick the potted plant 3- Place the left side potted plant in the green tray 4- Move your arm back 5- done\n\u003c/PRED\u003e","video":"12026418515887458214.mp4"}
+{"uid":"2802696429440233355","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the pot from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the pot 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":"10363325196924947141.mp4"}
+{"uid":"10187039192059632697","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the table with the wiper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclean the table with the wiper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 the table in the library. last 20 steps: 1- put the wiper on the table 2- clean the table with the wiper 3- place the wiper on the table Q: immediate next step? \u003cPRED\u003eA: clean the table with the wiper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclean the table with the wiper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Wipe the table in the library. Q: immediate next step? \u003cPRED\u003eA: clean the table with the wiper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Wipe the table in the library. last 20 steps: 1- put the wiper on the table 2- clean the table with the wiper 3- place the wiper on the table Q: next 5 steps? \u003cPRED\u003eA: 1- clean the table with the wiper 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: clean the table with the wiper\n\u003c/PRED\u003e","video":"11938790477999741988.mp4"}
+{"uid":"4354594568322735379","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the left side potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: Place the left side potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table 8- place the pot in the green container 9- Grab the left side potted plant Q: next 5 steps? \u003cPRED\u003eA: 1- Place the left side potted plant in the green tray 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the left side potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the left side potted plant in the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table 8- place the pot in the green container 9- Grab the left side potted plant Q: immediate next step? \u003cPRED\u003eA: Place the left side potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the left side potted plant in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2562770739350685471.mp4"}
+{"uid":"14745330313109327414","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please refill my water cup?. last 20 steps: 1- Put the water glass on the table 2- Open the lid of the water glass Q: immediate next step? \u003cPRED\u003eA: Throw the lid in the trash\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Throw the lid in the trash\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Throw the lid in the trash\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nThrow the lid in the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nThrow the lid in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please refill my water cup? Q: immediate next step? \u003cPRED\u003eA: Throw the lid in the trash\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please refill my water cup?. last 20 steps: 1- Put the water glass on the table 2- Open the lid of the water glass Q: next 5 steps? \u003cPRED\u003eA: 1- Throw the lid in the trash 2- Place the glass on the water purifier 3- Fill the water glass 4- Put the water glass on the table 5- done\n\u003c/PRED\u003e","video":"18369112495591436486.mp4"}
+{"uid":"1809626128621845912","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the right side potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the right side potted plant in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4969671696855008947.mp4"}
+{"uid":"14059558822016263295","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9313384461965912925.mp4"}
+{"uid":"15389674628125687180","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black bag in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9010647522641177800.mp4"}
+{"uid":"1198855625239446678","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: place the potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the potted plant in the green tray 2- Grab the left side potted plant 3- pick the potted plant 4- Place the left side potted plant in the green tray 5- Move your arm back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the potted plant in the green tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the potted plant in the green tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the potted plant in the green tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table Q: immediate next step? \u003cPRED\u003eA: place the potted plant in the green tray\n\u003c/PRED\u003e","video":"12320526523060852504.mp4"}
+{"uid":"11483443987457404928","text":"\u003ctask:success:discrete:True\u003e\nMove your arm 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table 8- place the pot in the green container 9- Grab the left side potted plant 10- pick the potted plant 11- Move your arm back Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place plants into the green bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place plants into the green bin. last 20 steps: 1- Grab the right side potted plant 2- Place the right side potted plant in the green tray 3- Grab the right side potted plant 4- Place the potted plant in the green tray 5- Slightly move up 6- Slightly move back 7- pick the right pot from the table 8- place the pot in the green container 9- Grab the left side potted plant 10- pick the potted plant 11- Move your arm back Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10165010702654204296.mp4"}
+{"uid":"4165157208345706619","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the leftmost 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":"17721737167966310705.mp4"}
+{"uid":"9886556102941617108","text":"\u003ctask:success:discrete:True\u003e\npick the potted plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the potted plant\n\u003c/PRED\u003e","video":"12693362187392060795.mp4"}
+{"uid":"16917373323686084115","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":"13406186769034854717.mp4"}
+{"uid":"16864152885105965190","text":"\u003ctask:success:discrete:True\u003e\npick the right pot 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 right pot from the table\n\u003c/PRED\u003e","video":"2848981902831362134.mp4"}
+{"uid":"6005027042738840612","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up package from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10745353661852204912.mp4"}
+{"uid":"6060095721532735124","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the register Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15261410234496787463.mp4"}
+{"uid":"9658196837175230403","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3442828550156649565.mp4"}
+{"uid":"8107451028063679631","text":"\u003ctask:success:discrete:True\u003e\nFill the water glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Fill the water glass\n\u003c/PRED\u003e","video":"14411968036523355259.mp4"}
+{"uid":"10167188984967844345","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the right side potted plant\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrab the right side potted plant Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7204249287992237030.mp4"}
+{"uid":"18022201684170111171","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the two pink 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":"5048468652448846272.mp4"}
+{"uid":"333926665417338695","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: place the brown packet into the black container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the brown packet into the black container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the brown packet into the black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown packet into the black container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown packet into the black container 2- put the brown packet into the black container 3- put a bag in the container 4- put a bag in the container 5- put a bag in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the brown packet into the black container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the brown packet into the black container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"799963507769297334.mp4"}
+{"uid":"8084045774999584438","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":"11084714751492716305.mp4"}
+{"uid":"11459212205868949020","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: put a bag in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container 3- put a bag in the container 4- put a bag in the container Q: immediate next step? \u003cPRED\u003eA: put a bag in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container 3- put a bag in the container 4- put a bag in the container Q: next 5 steps? \u003cPRED\u003eA: 1- put a bag in the container 2- put a bag in the container 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a bag in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a bag in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a bag in the container\n\u003c/PRED\u003e","video":"14412433405505153971.mp4"}
+{"uid":"9164029896452033447","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":"2886542231402065849.mp4"}
+{"uid":"10380566498486198636","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":"4951979130476282846.mp4"}
+{"uid":"1897230463788683086","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets 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 oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container 3- put a bag in the container 4- put a bag in the container 5- put a bag in the container 6- drop paper bag in a container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop paper bag in a container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop paper bag in a container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container 3- put a bag in the container 4- put a bag in the container 5- put a bag in the container 6- drop paper bag in a container Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"4526628966192755606.mp4"}
+{"uid":"1334413271451659","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"1535815486727448274.mp4"}
+{"uid":"1753013773394009052","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":"15486818753702088879.mp4"}
+{"uid":"1642007898691854511","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pen 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":"12377306080171646731.mp4"}
+{"uid":"4091668591310535231","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut boat toy in a 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":"9438406508823415524.mp4"}
+{"uid":"15195838147269080002","text":"\u003ctask:success:discrete:True\u003e\nput a bag in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a bag in the container\n\u003c/PRED\u003e","video":"13204377377455280466.mp4"}
+{"uid":"15798420579234987615","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":"16355612380622252062.mp4"}
+{"uid":"8397222140192869863","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":"5981115264413497986.mp4"}
+{"uid":"11276723455214454379","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"16585601480559908222.mp4"}
+{"uid":"6834405998848614748","text":"\u003ctask:success:discrete:False\u003e\ndrop paper bag in a container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop paper bag in a container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop paper bag in a container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: drop paper bag in a container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop paper bag in a container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container 3- put a bag in the container Q: immediate next step? \u003cPRED\u003eA: drop paper bag in a container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container 3- put a bag in the container Q: next 5 steps? \u003cPRED\u003eA: 1- drop paper bag in a container 2- put a bag in the container 3- done\n\u003c/PRED\u003e","video":"14862034512222957588.mp4"}
+{"uid":"460903733369909068","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container 3- put a bag in the container 4- put a bag in the container 5- put a bag in the container Q: immediate next step? \u003cPRED\u003eA: drop paper bag in a container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop paper bag in a container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container 3- put a bag in the container 4- put a bag in the container 5- put a bag in the container Q: next 5 steps? \u003cPRED\u003eA: 1- drop paper bag in a container 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop paper bag in a container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop paper bag in a container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: drop paper bag in a container\n\u003c/PRED\u003e","video":"17228236535324084232.mp4"}
+{"uid":"8253739095047990960","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop paper bag in container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop paper bag in container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container Q: next 5 steps? \u003cPRED\u003eA: 1- drop paper bag in container 2- put a bag in the container 3- put a bag in the container 4- put a bag in the container 5- put a bag in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: drop paper bag in container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop paper bag in container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container Q: immediate next step? \u003cPRED\u003eA: drop paper bag in container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop paper bag in container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14262566018249949821.mp4"}
+{"uid":"15081926589432135164","text":"\u003ctask:success:discrete:True\u003e\nplace the brown packet into the black container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the brown packet into the black container\n\u003c/PRED\u003e","video":"4919394657294301892.mp4"}
+{"uid":"2788893931960862215","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop paper bag in a container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: drop paper bag in a container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container 3- put a bag in the container 4- put a bag in the container Q: next 5 steps? \u003cPRED\u003eA: 1- drop paper bag in a container 2- put a bag in the container 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop paper bag in a container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container 3- put a bag in the container 4- put a bag in the container Q: immediate next step? \u003cPRED\u003eA: drop paper bag in a container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop paper bag in a container\n\u003c/PRED\u003e","video":"3901453355638569060.mp4"}
+{"uid":"3804442697118809539","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the other dip into the another cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15707520554020837473.mp4"}
+{"uid":"4828307936223427632","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"10367392816892108323.mp4"}
+{"uid":"12099282415797720707","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace blue pen inside the pen stand from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11872716689286187623.mp4"}
+{"uid":"17233711007518341596","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: drop paper packet in a container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop paper packet in a container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop paper packet in a container 2- put the brown packet into the black container 3- put a bag in the container 4- put a bag in the container 5- put a bag in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop paper packet in a container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop paper packet in a container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop paper packet in a container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop paper packet in a container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8836069127978230922.mp4"}
+{"uid":"18273044051639138414","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the paper bowl 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":"17074363118293118633.mp4"}
+{"uid":"1000810668820446111","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container 3- put a bag in the container 4- put a bag in the container Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the black container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container 3- put a bag in the container 4- put a bag in the container Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet into the black container 2- put a bag in the container 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet into the black container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the black container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet into the black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet into the black container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet into the black container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9725553107896120689.mp4"}
+{"uid":"10334182062993749675","text":"\u003ctask:success:discrete:False\u003e\nput the brown packet into the black container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet into the black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container 3- put a bag in the container Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the black container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the black container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet into the black container\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 black container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container 3- put a bag in the container Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet into the black container 2- put a bag in the container 3- put a bag in the container 4- done\n\u003c/PRED\u003e","video":"1242047543486766161.mp4"}
+{"uid":"6305259256085581879","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container Q: next 5 steps? \u003cPRED\u003eA: 1- put a bag in the container 2- put a bag in the container 3- put a bag in the container 4- put a bag in the container 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: put a bag in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a bag in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container Q: immediate next step? \u003cPRED\u003eA: put a bag in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a bag in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a bag in the container\n\u003c/PRED\u003e","video":"8058429381960266636.mp4"}
+{"uid":"4940705088176034443","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop paper packet in a container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop paper packet in a container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6944083301192219510.mp4"}
+{"uid":"6370425276694496712","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a bag in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container 3- put a bag in the container 4- put a bag in the container 5- put a bag in the container Q: next 5 steps? \u003cPRED\u003eA: 1- put a bag in the container 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container 3- put a bag in the container 4- put a bag in the container 5- put a bag in the container Q: immediate next step? \u003cPRED\u003eA: put a bag in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: put a bag in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a bag in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a bag in the container\n\u003c/PRED\u003e","video":"11240654201521018082.mp4"}
+{"uid":"116431685344970525","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packet into the black container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the brown packet into the black container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13770876142879986956.mp4"}
+{"uid":"4754058784703422237","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18355051552560349025.mp4"}
+{"uid":"5321122826582835263","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the black container\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 black container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet into the black container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the black container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet into the black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet into the black container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet into the black container 2- put a bag in the container 3- put a bag in the container 4- put a bag in the container 5- put a bag in the container\n\u003c/PRED\u003e","video":"10203844126758162238.mp4"}
+{"uid":"15128731603973249074","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":"10302735753553805215.mp4"}
+{"uid":"17395313685601467293","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the brown packet into the black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: place the brown packet into the black container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the brown packet into the black container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the brown packet into the black container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container 3- put a bag in the container 4- put a bag in the container 5- put a bag in the container Q: immediate next step? \u003cPRED\u003eA: place the brown packet into the black container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container 3- put a bag in the container 4- put a bag in the container 5- put a bag in the container Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown packet into the black container 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown packet into the black container\n\u003c/PRED\u003e","video":"526906902113771325.mp4"}
+{"uid":"9229239480170944675","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a bag in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a bag in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18228767416295294008.mp4"}
+{"uid":"6497078548382416781","text":"\u003ctask:success:discrete:True\u003e\ndrop paper packet in a container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop paper packet in a container\n\u003c/PRED\u003e","video":"6972775825519274884.mp4"}
+{"uid":"14418850069513499685","text":"\u003ctask:success:discrete:True\u003e\nplace the brown packet into the black container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the brown packet into the black container\n\u003c/PRED\u003e","video":"260588128448539263.mp4"}
+{"uid":"14393035200112787183","text":"\u003ctask:success:discrete:True\u003e\ndrop paper bag in a container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop paper bag in a container\n\u003c/PRED\u003e","video":"16188032319835208920.mp4"}
+{"uid":"11901736282845443438","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the brown packet into the black container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: place the brown packet into the black container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container Q: immediate next step? \u003cPRED\u003eA: place the brown packet into the black container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown packet into the black container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the brown packet into the black container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the brown packet into the black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown packet into the black container 2- put a bag in the container 3- put a bag in the container 4- put a bag in the container 5- done\n\u003c/PRED\u003e","video":"16852335307312938909.mp4"}
+{"uid":"13747471850439811867","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packet into the black container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the brown packet into the black container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9232025996858073117.mp4"}
+{"uid":"12142754066473506462","text":"\u003ctask:success:discrete:True\u003e\ndrop paper bag in a container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop paper bag in a container\n\u003c/PRED\u003e","video":"11382718430244870077.mp4"}
+{"uid":"6361891398090690193","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a bag in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a bag in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1249207060035540094.mp4"}
+{"uid":"2499468374297547511","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a bag in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a bag in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17077362283511009609.mp4"}
+{"uid":"1886943221278258365","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: put a bag in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a bag in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a bag in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container 3- put a bag in the container Q: next 5 steps? \u003cPRED\u003eA: 1- put a bag in the container 2- put a bag in the container 3- put a bag in the container 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a bag in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container 3- put a bag in the container Q: immediate next step? \u003cPRED\u003eA: put a bag in the container\n\u003c/PRED\u003e","video":"3931731142910044103.mp4"}
+{"uid":"2527837690157092475","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container 3- put a bag in the container 4- put a bag in the container 5- put a bag in the container 6- put a bag in the container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a bag in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a bag in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container 3- put a bag in the container 4- put a bag in the container 5- put a bag in the container 6- put a bag in the container Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2218274833419351837.mp4"}
+{"uid":"17656534827977436334","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: put a bag in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a bag in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container Q: next 5 steps? \u003cPRED\u003eA: 1- put a bag in the container 2- put a bag in the container 3- put a bag in the container 4- put a bag in the container 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a bag in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container Q: immediate next step? \u003cPRED\u003eA: put a bag in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a bag in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a bag in the container\n\u003c/PRED\u003e","video":"9854354038839177888.mp4"}
+{"uid":"9839556251877999512","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop paper packet in a container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container Q: next 5 steps? \u003cPRED\u003eA: 1- drop paper packet in a container 2- put a bag in the container 3- put a bag in the container 4- put a bag in the container 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop paper packet in a container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop paper packet in a container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container Q: immediate next step? \u003cPRED\u003eA: drop paper packet in a container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop paper packet in a container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: drop paper packet in a container\n\u003c/PRED\u003e","video":"10990567687731476316.mp4"}
+{"uid":"3320772807436805891","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets 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 packet into the black container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container 3- put a bag in the container 4- put a bag in the container 5- put a bag in the container 6- place the brown packet into the black container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the brown packet into the black container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- put a bag in the container 2- put the brown packet into the black container 3- put a bag in the container 4- put a bag in the container 5- put a bag in the container 6- place the brown packet into the black container Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"7829109008205864003.mp4"}
+{"uid":"8931666016072015301","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace Pistachio inside 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":"10849138389284630428.mp4"}
+{"uid":"4206622918479420883","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop brown chip packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Drop brown chip packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop brown chip packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop brown chip 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\nDrop brown chip 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: put the chips in the basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Drop brown chip packet in the basket 2- put a white packet in the basket 3- put blue packet in the basket 4- put a blue packet in the basket 5- put a blue packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: Drop brown chip packet in the basket\n\u003c/PRED\u003e","video":"3451723615260978149.mp4"}
+{"uid":"16783585693600821950","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white packet in the basket 2- put blue packet in the basket 3- put a blue packet in the basket 4- put a blue packet in the basket 5- put a brown packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket Q: immediate next step? \u003cPRED\u003eA: Place the white packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the white packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: Place the white packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the white 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","video":"12879331258146611877.mp4"}
+{"uid":"5427567531654891059","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":"14978850296831010779.mp4"}
+{"uid":"3131147923861518789","text":"\u003ctask:success:discrete:True\u003e\nPut the cup on the right side of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the cup on the right side of the table\n\u003c/PRED\u003e","video":"16906081138760984112.mp4"}
+{"uid":"11653798532113339875","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: put a blue packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a 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 a 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 a blue packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket 3- put blue packet in the basket 4- put a blue packet in the basket Q: immediate next step? \u003cPRED\u003eA: put a blue packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket 3- put blue packet in the basket 4- put a blue packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put a blue packet in the basket 2- put a brown packet in the basket 3- done\n\u003c/PRED\u003e","video":"14840295406345474977.mp4"}
+{"uid":"14750390182919161599","text":"\u003ctask:success:discrete:True\u003e\nAdjust the cup to the right position Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Adjust the cup to the right position\n\u003c/PRED\u003e","video":"15730737334878709402.mp4"}
+{"uid":"6393759592415754166","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace 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":"4344621565873934707.mp4"}
+{"uid":"10971836669545482923","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket 3- put blue packet in the basket Q: immediate next step? \u003cPRED\u003eA: Place the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace 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:affordance:discriminative:discrete:True\u003e\nPlace 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: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket 3- put blue packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue packet in the basket 2- put a blue packet in the basket 3- put a brown packet in the basket 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: Place 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: Place the blue packet in the basket\n\u003c/PRED\u003e","video":"4214469035188742439.mp4"}
+{"uid":"1966803113549602471","text":"\u003ctask:success:discrete:True\u003e\nput a white packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a white packet in the basket\n\u003c/PRED\u003e","video":"16615688416965522562.mp4"}
+{"uid":"4325304403381015191","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the white packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the white 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":"16738829415204906055.mp4"}
+{"uid":"2832850675264291567","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":"13666814288921147039.mp4"}
+{"uid":"15838764685170649324","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down 3- put the cup on the table 4- put the cup on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down 3- put the cup on the table 4- put the cup 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 cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5121757643370240074.mp4"}
+{"uid":"2150896745618818652","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cups on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cups on the table 2- Put the cups on the table 3- put the cup on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cups on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 rainbow cups onto the counter Q: immediate next step? \u003cPRED\u003eA: Put the cups on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down Q: immediate next step? \u003cPRED\u003eA: Put the cups on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cups on the table\n\u003c/PRED\u003e","video":"14668799845462405227.mp4"}
+{"uid":"2808056196188561709","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a blue packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket 3- put blue packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put a blue packet in the basket 2- put a blue packet in the basket 3- put a brown packet in the basket 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: put a blue packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a 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:affordance:discriminative:discrete:True\u003e\nput a 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 a blue packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket 3- put blue packet in the basket Q: immediate next step? \u003cPRED\u003eA: put a blue packet in the basket\n\u003c/PRED\u003e","video":"15042298204049019481.mp4"}
+{"uid":"14459770125483686368","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":"13801322584433009998.mp4"}
+{"uid":"10581675576597780725","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table Q: immediate next step? \u003cPRED\u003eA: put the cup upside down\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cup upside down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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:affordance:discriminative:discrete:True\u003e\nput the cup upside down Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup upside down\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup upside down\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter Q: immediate next step? \u003cPRED\u003eA: put the cup upside down\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup upside down 2- put the cup on the table 3- Put the cups on the table 4- put the cup on the table 5- done\n\u003c/PRED\u003e","video":"3614678723612022235.mp4"}
+{"uid":"406309404561719699","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop blue chip packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop blue chip 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":"11232343977151996423.mp4"}
+{"uid":"3067270445213592173","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter Q: immediate next step? \u003cPRED\u003eA: put the cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup on the table 2- Put the cups on the table 3- put the cup on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down Q: immediate next step? \u003cPRED\u003eA: put the cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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","video":"11470551065746106692.mp4"}
+{"uid":"2505712062089669609","text":"\u003ctask:success:discrete:True\u003e\nPut the coffee mugs on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the coffee mugs on the table\n\u003c/PRED\u003e","video":"13648340950649347886.mp4"}
+{"uid":"563080434172447976","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace 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:success:discrete:False\u003e\nPlace 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: Place the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket 3- put blue packet in the basket 4- put a blue packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue packet in the basket 2- put a brown packet in the basket 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket 3- put blue packet in the basket 4- put a blue packet in the basket Q: immediate next step? \u003cPRED\u003eA: Place the blue packet in the basket\n\u003c/PRED\u003e","video":"602382521089018760.mp4"}
+{"uid":"2061324173903922559","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":"3994343391972203647.mp4"}
+{"uid":"7897745188876812109","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the seaweed snacks bag into 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":"3900490778990259848.mp4"}
+{"uid":"5617551362348984174","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":"14443489139935452481.mp4"}
+{"uid":"15539869553788467464","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":"14315228221670866162.mp4"}
+{"uid":"10469833313452305246","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter Q: immediate next step? \u003cPRED\u003eA: Put the cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down 3- put the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cup on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down 3- put the cup on the table Q: immediate next step? \u003cPRED\u003eA: Put the cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 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:discriminative:discrete:True\u003e\nPut 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cup on the table\n\u003c/PRED\u003e","video":"6418590252791864707.mp4"}
+{"uid":"10073023656509141696","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":"4333770539996933068.mp4"}
+{"uid":"11435419528021616745","text":"\u003ctask:success:discrete:True\u003e\nput the cup upside down Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cup upside down\n\u003c/PRED\u003e","video":"17016897380604153671.mp4"}
+{"uid":"6217479487252320445","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down 3- put the cup on the table 4- Put the cups on the table 5- Put the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down 3- put the cup on the table 4- Put the cups on the table 5- Put the cup 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 cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14907435436422458779.mp4"}
+{"uid":"9083414594161353975","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cups on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cups on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 rainbow cups onto the counter. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the cups on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the cups on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 cups on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cups on the table 2- put the cup on the table 3- Put the cups on the table 4- put the cup on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter Q: immediate next step? \u003cPRED\u003eA: Put the cups on the table\n\u003c/PRED\u003e","video":"13265922292198186705.mp4"}
+{"uid":"2690268899808128662","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the small orange 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":"14976164682831558307.mp4"}
+{"uid":"3461535663078307466","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":"16427300687942505107.mp4"}
+{"uid":"1981898443463558289","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the cups on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down 3- put the cup on the table 4- Put the cups on the table 5- Put the cups on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the cups on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down 3- put the cup on the table 4- Put the cups on the table 5- Put the cups on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10397508532089142359.mp4"}
+{"uid":"3552545500402087738","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down 3- put the cup on the table 4- Put the cups on the table Q: immediate next step? \u003cPRED\u003eA: Put the cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down 3- put the cup on the table 4- Put the cups on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cup on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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: place the rainbow cups onto the counter Q: immediate next step? \u003cPRED\u003eA: Put the cup on the table\n\u003c/PRED\u003e","video":"4875140259122552406.mp4"}
+{"uid":"7039457918724896983","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop brown chip packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop brown chip packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket 3- put blue packet in the basket 4- put a blue packet in the basket 5- put a blue packet in the basket 6- Drop brown chip packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket 3- put blue packet in the basket 4- put a blue packet in the basket 5- put a blue packet in the basket 6- Drop brown chip packet in the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12891684572879859185.mp4"}
+{"uid":"4590437017591673828","text":"\u003ctask:success:discrete:True\u003e\nPut the cups on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\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 cups on the table\n\u003c/PRED\u003e","video":"1877745314585394695.mp4"}
+{"uid":"6675627811262161690","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the cups on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the cups on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8977752532033079301.mp4"}
+{"uid":"16171000551122477983","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down 3- put the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup 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 cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down 3- put the cup on the table Q: immediate next step? \u003cPRED\u003eA: put the cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter Q: immediate next step? \u003cPRED\u003eA: put the cup on the table\n\u003c/PRED\u003e","video":"1179748510696404812.mp4"}
+{"uid":"6930579472638777967","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter Q: immediate next step? \u003cPRED\u003eA: put the cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup on the table 2- put the cup upside down 3- put the cup on the table 4- Put the cups on the table 5- put the cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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","video":"15284597985149551128.mp4"}
+{"uid":"3667015230284014451","text":"\u003ctask:success:discrete:True\u003e\nPlace 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue packet in the basket\n\u003c/PRED\u003e","video":"13891717753732627143.mp4"}
+{"uid":"4171975711795119030","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep 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":"4397739694344021918.mp4"}
+{"uid":"18215066266162439601","text":"\u003ctask:success:discrete:True\u003e\nDrop blue chip packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop blue chip packet in the basket\n\u003c/PRED\u003e","video":"10141160703885627931.mp4"}
+{"uid":"8518340369790527946","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":"11822059111639226228.mp4"}
+{"uid":"2872594688599960047","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop it 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":"7099454040137328961.mp4"}
+{"uid":"1182303861032389347","text":"\u003ctask:success:discrete:False\u003e\nPut the cup on the right side of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter Q: immediate next step? \u003cPRED\u003eA: Put the cup on the right side of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table Q: immediate next step? \u003cPRED\u003eA: Put the cup on the right side of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cup on the right side of the table 2- put the cup on the table 3- Put the cups on the table 4- put the cup 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 cup on the right side of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cup on the right side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cup on the right side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8729837716274796321.mp4"}
+{"uid":"2411098163526291764","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down 3- put the cup on the table 4- Put the cups on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the cups on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\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 cups on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down 3- put the cup on the table 4- Put the cups on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16823812544819674744.mp4"}
+{"uid":"6855244117652625076","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue pen into the pen case Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13958154396842586181.mp4"}
+{"uid":"13226181672669510743","text":"\u003ctask:success:discrete:True\u003e\nput a 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a blue packet in the basket\n\u003c/PRED\u003e","video":"8317069210450594021.mp4"}
+{"uid":"5766957505922647055","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6162800575313990390.mp4"}
+{"uid":"14935983245192460169","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the cups on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the cups on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3408612359747696416.mp4"}
+{"uid":"12767304313744873619","text":"\u003ctask:success:discrete:True\u003e\nput a 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a blue packet in the basket\n\u003c/PRED\u003e","video":"906539865838825909.mp4"}
+{"uid":"18166063370362951474","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Adjust the cup to the right position\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter Q: immediate next step? \u003cPRED\u003eA: Adjust the cup to the right position\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table Q: immediate next step? \u003cPRED\u003eA: Adjust the cup to the right position\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Adjust the cup to the right position 2- put the cup on the table 3- Put the cups on the table 4- put the cup on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nAdjust the cup to the right position Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 cup to the right position\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nAdjust the cup to the right position Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5694614052273495696.mp4"}
+{"uid":"16372191452729468673","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":"16133413994931187717.mp4"}
+{"uid":"13375284013368766815","text":"\u003ctask:success:discrete:False\u003e\nPut the coffee mugs on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 rainbow cups onto the counter. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the coffee mugs on the table 2- put the cup on the table 3- Put the cups on the table 4- put the cup 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 coffee mugs on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the coffee mugs on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the coffee mugs on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the coffee mugs on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter Q: immediate next step? \u003cPRED\u003eA: Put the coffee mugs on the table\n\u003c/PRED\u003e","video":"17892436275928603049.mp4"}
+{"uid":"1999419832986898854","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter Q: immediate next step? \u003cPRED\u003eA: Put the cups on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cups on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 cups on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cups on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down 3- put the cup on the table 4- Put the cups on the table Q: immediate next step? \u003cPRED\u003eA: Put the cups on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down 3- put the cup on the table 4- Put the cups on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cups on the table 2- done\n\u003c/PRED\u003e","video":"17236679833418759787.mp4"}
+{"uid":"2724697821764599160","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick banana from the platform Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7887682097928257692.mp4"}
+{"uid":"9603758327921629335","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a brown 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 a brown packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: put a brown packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a brown 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: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket 3- put blue packet in the basket 4- put a blue packet in the basket 5- put a blue packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put a brown packet in the basket 2- done\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 basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket 3- put blue packet in the basket 4- put a blue packet in the basket 5- put a blue packet in the basket Q: immediate next step? \u003cPRED\u003eA: put a brown packet in the basket\n\u003c/PRED\u003e","video":"1779786394239026680.mp4"}
+{"uid":"17138764404953748703","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter Q: immediate next step? \u003cPRED\u003eA: put the cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down 3- put the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup on the table 2- put the cup on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down 3- put the cup on the table Q: immediate next step? \u003cPRED\u003eA: put the cup on the table\n\u003c/PRED\u003e","video":"16874456784948354975.mp4"}
+{"uid":"1091135127794870344","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace 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:success:discrete:False\u003e\nPlace 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: Place the blue packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue packet in the basket 2- put a blue packet in the basket 3- put a blue packet in the basket 4- put a brown packet in the basket 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket Q: immediate next step? \u003cPRED\u003eA: Place the blue packet in the basket\n\u003c/PRED\u003e","video":"4961335530298410829.mp4"}
+{"uid":"9165055659785658582","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the sticky notes from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13028130904722391187.mp4"}
+{"uid":"5639577401359376432","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"12145864532695461514.mp4"}
+{"uid":"3956629907566819988","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":"12470584756348769020.mp4"}
+{"uid":"7359200570355781170","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop chocolate candy in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9171093810806228171.mp4"}
+{"uid":"10083415189483874542","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down 3- put the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cups on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter Q: immediate next step? \u003cPRED\u003eA: Put the cups on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cups on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cups on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cups on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down 3- put the cup on the table Q: immediate next step? \u003cPRED\u003eA: Put the cups on the table\n\u003c/PRED\u003e","video":"2864549208689194585.mp4"}
+{"uid":"9882151152577018219","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: Drop blue chip packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket Q: immediate next step? \u003cPRED\u003eA: Drop blue chip packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop blue chip packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop blue chip packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop blue chip 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: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Drop blue chip packet in the basket 2- put a blue packet in the basket 3- put a brown packet in the basket 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop blue chip packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17953258543639990862.mp4"}
+{"uid":"9822294085055651840","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":"4671125901649968468.mp4"}
+{"uid":"7156758727662937243","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop brown chip packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket 3- put blue packet in the basket 4- put a blue packet in the basket 5- put a blue packet in the basket Q: immediate next step? \u003cPRED\u003eA: Drop brown chip packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: Drop brown chip packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket 3- put blue packet in the basket 4- put a blue packet in the basket 5- put a blue packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Drop brown chip packet in the basket 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop brown chip packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop brown chip packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop brown chip packet in the basket\n\u003c/PRED\u003e","video":"8132787309446121092.mp4"}
+{"uid":"16011670048304577142","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"2357777297677789683.mp4"}
+{"uid":"11502498217963445481","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the orange packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange 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: put the chips in the basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange packet in the basket 2- put a white packet in the basket 3- put blue packet in the basket 4- put a blue packet in the basket 5- put a blue packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: Place the orange packet in the basket\n\u003c/PRED\u003e","video":"9196011048257814119.mp4"}
+{"uid":"18195610932786334058","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red 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":"10683713463416309285.mp4"}
+{"uid":"4878928626762823001","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket Q: immediate next step? \u003cPRED\u003eA: put blue packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put blue packet in the basket 2- put a blue packet in the basket 3- put a blue packet in the basket 4- put a brown packet in the basket 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: put blue packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 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 blue packet in the basket\n\u003c/PRED\u003e","video":"11964841880619749379.mp4"}
+{"uid":"8363342419101590821","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop white chip packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: Drop white chip packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop white chip packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop white chip packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Drop white chip packet in the basket 2- put blue packet in the basket 3- put a blue packet in the basket 4- put a blue packet in the basket 5- put a brown packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket Q: immediate next step? \u003cPRED\u003eA: Drop white chip packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop white chip 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","video":"11862085144294675302.mp4"}
+{"uid":"14122823169104662856","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop white chip packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop white chip 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":"1584237212602076239.mp4"}
+{"uid":"8829257126434252942","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput another duck in the big basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9587561385107112571.mp4"}
+{"uid":"4061611632442146157","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":"14044443939445233853.mp4"}
+{"uid":"1966147021831590041","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: put a white packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put a white packet in the basket 2- put blue packet in the basket 3- put a blue packet in the basket 4- put a blue packet in the basket 5- put a brown packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket Q: immediate next step? \u003cPRED\u003eA: put a white packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a white 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 a white packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a white packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a white packet in the basket\n\u003c/PRED\u003e","video":"12667969552253922149.mp4"}
+{"uid":"2091268603783971801","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket 3- put blue packet in the basket 4- put a blue packet in the basket 5- put a blue packet in the basket Q: immediate next step? \u003cPRED\u003eA: Place the orange packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket 3- put blue packet in the basket 4- put a blue packet in the basket 5- put a blue packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange packet in the basket 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange 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: Place the orange packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: Place the orange packet in the basket\n\u003c/PRED\u003e","video":"1179847711721522476.mp4"}
+{"uid":"9031194119997900942","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop blue chip 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: Drop blue chip packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop blue chip packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket 3- put blue packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Drop blue chip packet in the basket 2- put a blue packet in the basket 3- put a brown packet in the basket 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: Drop blue chip packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket 3- put blue packet in the basket Q: immediate next step? \u003cPRED\u003eA: Drop blue chip packet in the basket\n\u003c/PRED\u003e","video":"13561836640967061415.mp4"}
+{"uid":"12069004868947228744","text":"\u003ctask:success:discrete:True\u003e\nDrop blue chip packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop blue chip packet in the basket\n\u003c/PRED\u003e","video":"8981716956074660426.mp4"}
+{"uid":"7765709085454677715","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cups on the table 2- Put the cups on the table 3- put the cup 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 cups on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter. last 20 steps: 1- put the cup on the table 2- put the cup upside down Q: immediate next step? \u003cPRED\u003eA: Put the cups on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the rainbow cups onto the counter Q: immediate next step? \u003cPRED\u003eA: Put the cups on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cups on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 cups on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the cups on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16983546274747851732.mp4"}
+{"uid":"15640969293781222217","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the measurement tape in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16329636245052299124.mp4"}
+{"uid":"9440346365368074060","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the orange packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the orange 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":"8146519904874649521.mp4"}
+{"uid":"15294517841272224938","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nslide the 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":"15040982766333219552.mp4"}
+{"uid":"7839793281557871046","text":"\u003ctask:success:discrete:True\u003e\nput 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue packet in the basket\n\u003c/PRED\u003e","video":"15058996778113744176.mp4"}
+{"uid":"1597857455139874516","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the brown tissue paper in the recycle bin. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11898180436878240876.mp4"}
+{"uid":"5392266102423171104","text":"\u003ctask:success:discrete:True\u003e\nput a brown packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a brown packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket 3- put blue packet in the basket 4- put a blue packet in the basket 5- put a blue packet in the basket 6- put a brown packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket 3- put blue packet in the basket 4- put a blue packet in the basket 5- put a blue packet in the basket 6- put a brown packet in the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9593392775885502615.mp4"}
+{"uid":"10558922566251328014","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":"17418594881138626609.mp4"}
+{"uid":"341312886869174987","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown cable in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13382657741480101145.mp4"}
+{"uid":"8610509507807593449","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: put a brown packet in the basket\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 basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a brown packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put a brown packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put a brown packet in the basket 2- put a white packet in the basket 3- put blue packet in the basket 4- put a blue packet in the basket 5- put a blue packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a brown packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a brown 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","video":"1829386712991736751.mp4"}
+{"uid":"4975243883711972831","text":"\u003ctask:success:discrete:True\u003e\nput a brown packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a brown packet in the basket\n\u003c/PRED\u003e","video":"16361033463391426786.mp4"}
+{"uid":"15286570403387474172","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"850862289161155265.mp4"}
+{"uid":"2287641751952116440","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop brown chip packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop brown chip 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":"9191079936049799269.mp4"}
+{"uid":"16597501753028855292","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":"18197157342729850896.mp4"}
+{"uid":"1491053734621133594","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove label 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":"5843789600309608898.mp4"}
+{"uid":"13584456995602432356","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop blue chip packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket 3- put blue packet in the basket 4- put a blue packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Drop blue chip packet in the basket 2- put a brown packet in the basket 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the chips in the basket. last 20 steps: 1- put a brown packet in the basket 2- put a white packet in the basket 3- put blue packet in the basket 4- put a blue packet in the basket Q: immediate next step? \u003cPRED\u003eA: Drop blue chip packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the chips in the basket Q: immediate next step? \u003cPRED\u003eA: Drop blue chip packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop blue chip packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop blue chip packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4960921131233070451.mp4"}
+{"uid":"5761002426581232163","text":"\u003ctask:success:discrete:True\u003e\nPut the diamond block 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 diamond block in the box\n\u003c/PRED\u003e","video":"2389951667248251689.mp4"}
+{"uid":"226090194771288899","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box 7- place heart block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- place block in the box 3- place block in the box 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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 block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box 7- place heart block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"7123626319589505575.mp4"}
+{"uid":"12188356590398983449","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the hourglass block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box Q: immediate next step? \u003cPRED\u003eA: Put the hourglass block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the hourglass block in the box 2- place block in the box 3- place heart block in the box 4- place block in the box 5- place block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the hourglass block 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 hourglass block 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 hourglass block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: Put the hourglass block in the box\n\u003c/PRED\u003e","video":"15381825778395694727.mp4"}
+{"uid":"2626700666846372168","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- place star block in the box 3- place block in the box 4- place block in the box 5- place heart block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput block 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: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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":"16058009300980985962.mp4"}
+{"uid":"1723295461731506259","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":"5277722729848800397.mp4"}
+{"uid":"2337443269688191736","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":"16735529741465533562.mp4"}
+{"uid":"3211381320649718587","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the cylindricak block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the cylindricak block 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":"749097379958529010.mp4"}
+{"uid":"2739306490552942709","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box 7- place heart block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place block in the box 2- place block in the box 3- place block in the box 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace block 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: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box 7- place heart block in the box Q: immediate next step? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace block 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 block in the box\n\u003c/PRED\u003e","video":"14867614221713236145.mp4"}
+{"uid":"4576325351903895785","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  pen marker 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":"10647541844066730224.mp4"}
+{"uid":"1138929523508710194","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place triangle block in the box 2- place star block in the box 3- place block in the box 4- place block in the box 5- place heart block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace triangle block 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:success:discrete:True\u003e\nplace circle block 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: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: place triangle block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place triangle block in the box\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place circle block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace triangle block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box Q: immediate next step? \u003cPRED\u003eA: place triangle block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place triangle block in the box\n\u003c/PRED\u003e","video":"3086593959736604493.mp4"}
+{"uid":"5761710813667869149","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- place block in the box 3- place block in the box 4- place heart block in the box 5- place block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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":"7954435937291998545.mp4"}
+{"uid":"9295370293929381664","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box 7- place heart block in the box 8- place block in the box Q: immediate next step? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace block 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: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box 7- place heart block in the box 8- place block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place block in the box 2- place block in the box 3- done\n\u003c/PRED\u003e","video":"11852086862592016425.mp4"}
+{"uid":"12583298610576959419","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place block in the box 2- place block in the box 3- place heart block in the box 4- place block in the box 5- place block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box Q: immediate next step? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace block in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e","video":"18007308817229666987.mp4"}
+{"uid":"6114462748104722091","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- place star block in the box 3- place block in the box 4- place block in the box 5- place heart block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"1450007398377736238.mp4"}
+{"uid":"9274209595518065430","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8181970945305568580.mp4"}
+{"uid":"12987203204116566477","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":"8500697087263795071.mp4"}
+{"uid":"9688764319955556955","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":"13797512688602255690.mp4"}
+{"uid":"16636174347966339632","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the pen 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":"9149903608507472493.mp4"}
+{"uid":"2384779063696031859","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box 7- place heart block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pentagon block in the box 2- place block in the box 3- place block 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 pentagon block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pentagon block 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 pentagon block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pentagon block 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: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: Put the pentagon block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box 7- place heart block in the box Q: immediate next step? \u003cPRED\u003eA: Put the pentagon block in the box\n\u003c/PRED\u003e","video":"12358092632698682292.mp4"}
+{"uid":"407969111031896402","text":"\u003ctask:success:discrete:False\u003e\nPut the triangular block in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the triangular block in the box 2- place star block in the box 3- place block in the box 4- place block in the box 5- place heart block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the triangular block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the triangular block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box Q: immediate next step? \u003cPRED\u003eA: Put the triangular block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: Put the triangular block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the triangular block 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":"10260075692658296327.mp4"}
+{"uid":"11215451083340887002","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box 7- place heart block in the box 8- place block in the box 9- place block in the box Q: immediate next step? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box 7- place heart block in the box 8- place block in the box 9- place block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place block in the box 2- done\n\u003c/PRED\u003e","video":"10698099818986894597.mp4"}
+{"uid":"14009337886260342775","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput square shape object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15023858334847159543.mp4"}
+{"uid":"18402306557707780199","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack 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":"3834898674583342730.mp4"}
+{"uid":"7529673680574153490","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace block 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: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box Q: immediate next step? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace block 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 block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place block in the box 2- place heart block in the box 3- place block in the box 4- place block in the box 5- place block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e","video":"15963412506716820243.mp4"}
+{"uid":"5703432311607455883","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":"64109980120301262.mp4"}
+{"uid":"3012340038644333788","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace patato chips 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":"17355260619790050096.mp4"}
+{"uid":"15072046692720497236","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":"4272969223785280900.mp4"}
+{"uid":"13986873963750164322","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place circle block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: place circle block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place circle block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place circle block in the box 2- place triangle block in the box 3- place star block in the box 4- place block in the box 5- place block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box Q: immediate next step? \u003cPRED\u003eA: place circle block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace circle block 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 circle block 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":"5956376976421563767.mp4"}
+{"uid":"6896717113968484376","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- place block in the box 3- place block in the box 4- place block in the box 5- done\n\u003c/PRED\u003e","video":"2779570886818574733.mp4"}
+{"uid":"9744359924304191658","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":"3702331485401839614.mp4"}
+{"uid":"17650789261420667946","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":"13932319800688505047.mp4"}
+{"uid":"4823228446101883068","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the hexagonal block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the hexagonal block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the hexagonal block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the hexagonal block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the hexagonal block 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 hexagonal block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: Put the hexagonal block in the box\n\u003c/PRED\u003e","video":"18145206232935329370.mp4"}
+{"uid":"4517613072090610778","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the star block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the star block in the box 2- place block in the box 3- place block in the box 4- place heart block in the box 5- place block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: Put the star block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box Q: immediate next step? \u003cPRED\u003eA: Put the star block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the star block 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 star block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the star block 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":"12260398168995560116.mp4"}
+{"uid":"15042371833072173867","text":"\u003ctask:success:discrete:False\u003e\nPut the diamond block 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 diamond block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: Put the diamond block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the diamond block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the diamond block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box 7- place heart block in the box 8- place block in the box Q: immediate next step? \u003cPRED\u003eA: Put the diamond block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box 7- place heart block in the box 8- place block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the diamond block in the box 2- place block in the box 3- done\n\u003c/PRED\u003e","video":"5792154553209653193.mp4"}
+{"uid":"18375124473795544566","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput  packets in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11544264418157679972.mp4"}
+{"uid":"9504492963226640690","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput block 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":"7415255024335848215.mp4"}
+{"uid":"8212505413511703180","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":"17537708884143126838.mp4"}
+{"uid":"17665601972586307040","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: Put the heart block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box Q: immediate next step? \u003cPRED\u003eA: Put the heart block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the heart block 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 heart block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the heart block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the heart block in the box 2- place block in the box 3- place block in the box 4- place block in the box 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the heart block 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":"9984522099569670853.mp4"}
+{"uid":"16618260216956585161","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- place triangle block in the box 3- place star block in the box 4- place block in the box 5- place block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput block 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 block 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":"6962339759848038755.mp4"}
+{"uid":"9410567833077908157","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npour snacks 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":"10799200306143970757.mp4"}
+{"uid":"632163069915178891","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box 7- place heart block in the box 8- place block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box 7- place heart block in the box 8- place block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- place block in the box 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput block 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":"2310185294670391499.mp4"}
+{"uid":"15169662042892809133","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box 7- place heart block in the box 8- place block in the box 9- place block in the box 10- place block in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box 7- place heart block in the box 8- place block in the box 9- place block in the box 10- place block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace block 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 block in the box\n\u003c/PRED\u003e","video":"5185517436689581653.mp4"}
+{"uid":"854077636149031128","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":"11975834441605135167.mp4"}
+{"uid":"11459496157654946243","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place triangle block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place star block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place star block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: place star block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace star block in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place star block in the box 2- place block in the box 3- place block in the box 4- place heart block in the box 5- place block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace triangle block 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: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box Q: immediate next step? \u003cPRED\u003eA: place star block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace star block 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":"14525652559806627014.mp4"}
+{"uid":"17509137631571810093","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cylindricak block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cylindricak block in the box 2- place triangle block in the box 3- place star block in the box 4- place block in the box 5- place block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cylindricak block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cylindricak block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: Put the cylindricak block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box Q: immediate next step? \u003cPRED\u003eA: Put the cylindricak block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the cylindricak block 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":"16263723813092959480.mp4"}
+{"uid":"4245194764199776301","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue marker in the transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1784001657389476589.mp4"}
+{"uid":"12873575700361563507","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- place heart block in the box 3- place block in the box 4- place block in the box 5- place block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput block 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: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"16213339871949254584.mp4"}
+{"uid":"2328736524894808255","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":"4267312561472421860.mp4"}
+{"uid":"12607444154187373027","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4918458296248232792.mp4"}
+{"uid":"16470006533256274612","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white box 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":"15684663491004325205.mp4"}
+{"uid":"10400788541646434492","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Move the box forward 2- place block in the box 3- place block in the box 4- place block in the box 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the box forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: Move the box forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the box forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box Q: immediate next step? \u003cPRED\u003eA: Move the box forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the 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","video":"7050857195997140339.mp4"}
+{"uid":"6739571807703676587","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":"5093642632122397291.mp4"}
+{"uid":"7695039220762247443","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrotate sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10605056082235409004.mp4"}
+{"uid":"16521292355234722054","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box Q: immediate next step? \u003cPRED\u003eA: Put the star block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the star block 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: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: Put the star block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the star block in the box 2- place heart block in the box 3- place block in the box 4- place block in the box 5- place block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the star block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the star block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the star block 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":"12931375069229273040.mp4"}
+{"uid":"346047878985228342","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the square block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the square block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box 7- place heart block in the box 8- place block in the box 9- place block in the box Q: immediate next step? \u003cPRED\u003eA: put the square block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box 7- place heart block in the box 8- place block in the box 9- place block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the square block 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 the square block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the square block 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: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: put the square block in the box\n\u003c/PRED\u003e","video":"14927957139191535244.mp4"}
+{"uid":"2747544625295064509","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack up 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":"10329601653377271081.mp4"}
+{"uid":"9353408862177309958","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the green cup forward on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15790319657298984806.mp4"}
+{"uid":"17017467883443388194","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box 7- place heart block in the box 8- place block in the box 9- place block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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 block in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box 7- place heart block in the box 8- place block in the box 9- place block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block 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 block in the box\n\u003c/PRED\u003e","video":"13299072363316408340.mp4"}
+{"uid":"12454577996392633801","text":"\u003ctask:success:discrete:True\u003e\nplace block 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 block in the box\n\u003c/PRED\u003e","video":"1665193106568975646.mp4"}
+{"uid":"3383941438951622020","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the yellow marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17061377683767028607.mp4"}
+{"uid":"7025147597689214754","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":"8338009379630119683.mp4"}
+{"uid":"2265027094854084573","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop orange toy 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":"18256772922545600390.mp4"}
+{"uid":"16920857452555846979","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput block 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 block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- place heart block in the box 3- place block in the box 4- place block in the box 5- place block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"116581796382627580.mp4"}
+{"uid":"17058504243338356856","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":"1011202884355123271.mp4"}
+{"uid":"16066637712597480232","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the blocks into the box Q: immediate next step? \u003cPRED\u003eA: place heart block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace block 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:success:discrete:False\u003e\nplace heart block in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place heart block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace heart block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place heart block in the box 2- place block in the box 3- place block in the box 4- place block in the box 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the blocks into the box. last 20 steps: 1- place block in the box 2- place circle block in the box 3- place triangle block in the box 4- place star block in the box 5- place block in the box 6- place block in the box Q: immediate next step? \u003cPRED\u003eA: place heart block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place heart block in the box\n\u003c/PRED\u003e","video":"7005227418319311479.mp4"}
+{"uid":"14400441168128679417","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace banana 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":"15943852809269484061.mp4"}
+{"uid":"17234141633964689912","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet 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":"13222273454629844230.mp4"}
+{"uid":"6964169126016137581","text":"\u003ctask:success:discrete:True\u003e\nPut a toffee to your right side glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a toffee to your right side glass\n\u003c/PRED\u003e","video":"13516367288212858794.mp4"}
+{"uid":"11233371246236527908","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":"17584363747912289745.mp4"}
+{"uid":"13065116764421047623","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put an almond shell to your left side glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut an almond shell to your left side 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":"14841532287348185987.mp4"}
+{"uid":"14841549277789262421","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pickup the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pickup the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass Q: immediate next step? \u003cPRED\u003eA: Pickup the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Pickup the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass Q: next 5 steps? \u003cPRED\u003eA: 1- Pickup the glass 2- Keep the glass on the white table 3- Pickup the glass 4- Put the paper glass on the table 5- Pull paper from the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPickup the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPickup the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12017812455075101387.mp4"}
+{"uid":"14401902906416291909","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put an almond shell to your left side glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put an almond shell to your left side glass 2- Put an almond shell to your left side glass 3- Pickup the glass 4- Keep the glass on the white table 5- Pickup the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass Q: immediate next step? \u003cPRED\u003eA: Put an almond shell to your left side glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut an almond shell to your left side glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put an almond shell to your left side glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put an almond shell to your left side glass\n\u003c/PRED\u003e","video":"11412015643473686697.mp4"}
+{"uid":"2263142267471708176","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen 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":"13661443632109520408.mp4"}
+{"uid":"13011263494417288762","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put an almond shell to your left side glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut an almond shell to your left side 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: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass Q: immediate next step? \u003cPRED\u003eA: Put an almond shell to your left side glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put an almond shell to your left side glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put an almond shell to your left side glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put an almond shell to your left side glass 2- Pickup the glass 3- Keep the glass on the white table 4- Pickup the glass 5- Put the paper glass on the table\n\u003c/PRED\u003e","video":"14823149416291408030.mp4"}
+{"uid":"16035321205441291407","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":"4664088206428765254.mp4"}
+{"uid":"17816018809003198995","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":"16949664574084494495.mp4"}
+{"uid":"8229149743407514208","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a toffee to your right side glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut a toffee to your right side 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":"16227451459116364563.mp4"}
+{"uid":"5085021605208906122","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pistachio in a paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1580294653590914622.mp4"}
+{"uid":"3911440542577026972","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachio in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the pistachio in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachio in the glass 2- Keep the glass on the white table 3- Pickup the glass 4- Put the paper glass on the table 5- Pull paper from the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachio in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass Q: immediate next step? \u003cPRED\u003eA: put the pistachio in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6241337557232190789.mp4"}
+{"uid":"9984267550678755698","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass Q: immediate next step? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pistachio in the paper glass 2- Put an almond shell to your left side glass 3- Put an almond shell to your left side glass 4- Pickup the glass 5- Keep the glass on the white table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pistachio in 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","video":"5750923579737283858.mp4"}
+{"uid":"1362381365917243461","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8724191909786761132.mp4"}
+{"uid":"2434994590915279104","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet in the paper glass 2- Put an almond shell to your left side glass 3- Put an almond shell to your left side glass 4- Put an almond shell to your left side glass 5- Pickup the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet in 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: Put the orange packet in the paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet in the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the paper glass\n\u003c/PRED\u003e","video":"3320334527998401328.mp4"}
+{"uid":"5863046627935969337","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white chip packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17774793403273577034.mp4"}
+{"uid":"3771253337892386329","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink 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":"3630819625361479873.mp4"}
+{"uid":"11189287673442717582","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pickup the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPickup 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":"13398480804893102943.mp4"}
+{"uid":"84985871537710516","text":"\u003ctask:success:discrete:True\u003e\nPull paper from 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: Pull paper from the box\n\u003c/PRED\u003e","video":"588151712736247684.mp4"}
+{"uid":"5061814176404216967","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange packet in the paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange packet in the paper glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15253803842053630543.mp4"}
+{"uid":"15763599158994803899","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper on the right table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the paper on the right table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper on the right table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass 9- Pickup the glass 10- Keep the glass on the white table 11- Pickup the glass 12- Put the paper glass on the table Q: immediate next step? \u003cPRED\u003eA: put the paper on the right table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the paper on the right table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper on the right table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass 9- Pickup the glass 10- Keep the glass on the white table 11- Pickup the glass 12- Put the paper glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper on the right table 2- done\n\u003c/PRED\u003e","video":"14757492382294817602.mp4"}
+{"uid":"1856425575364285675","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet in the paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet in the paper glass 2- Put an almond shell to your left side glass 3- Put an almond shell to your left side glass 4- Put an almond shell to your left side glass 5- Put an almond shell to your left side glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet in 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: Put the orange packet in the paper glass\n\u003c/PRED\u003e","video":"6650686994319852221.mp4"}
+{"uid":"5112709953176964984","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut  orange packet 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":"16300015699687681003.mp4"}
+{"uid":"119415315002121605","text":"\u003ctask:success:discrete:True\u003e\nPut an almond shell to your left side glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put an almond shell to your left side glass\n\u003c/PRED\u003e","video":"3767922217697913872.mp4"}
+{"uid":"16606380266286460705","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a toffee to your right side glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass Q: immediate next step? \u003cPRED\u003eA: Put a toffee to your right side glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put a toffee to your right side glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a toffee to your right side glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put a toffee to your right side glass 2- Put an almond shell to your left side glass 3- Put an almond shell to your left side glass 4- Put an almond shell to your left side glass 5- Put an almond shell to your left side glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a toffee to your right side 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":"11717526461625404094.mp4"}
+{"uid":"13743751813882530509","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Keep the glass on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nKeep the glass on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2645604946532201725.mp4"}
+{"uid":"14573169584114710659","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the pistachio in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachio in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass Q: immediate next step? \u003cPRED\u003eA: put the pistachio in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachio in the glass 2- Pickup the glass 3- Keep the glass on the white table 4- Pickup the glass 5- Put the paper glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachio in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pistachio in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5496143884300708134.mp4"}
+{"uid":"11723237024299128408","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the glass on the right table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the glass on the right table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5687413193723016020.mp4"}
+{"uid":"8408695032630676877","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":"185942657093424768.mp4"}
+{"uid":"15088313523236639221","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":"10295658178839540124.mp4"}
+{"uid":"15063424985228392013","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass Q: immediate next step? \u003cPRED\u003eA: put the packet in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the packet in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the glass 2- Put an almond shell to your left side glass 3- Put an almond shell to your left side glass 4- Put an almond shell to your left side glass 5- Put an almond shell to your left side glass\n\u003c/PRED\u003e","video":"10212111433087593568.mp4"}
+{"uid":"8479212004894644886","text":"\u003ctask:success:discrete:True\u003e\nKeep the glass on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Keep the glass on the white table\n\u003c/PRED\u003e","video":"16994856407047872677.mp4"}
+{"uid":"15135038122723562307","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass Q: immediate next step? \u003cPRED\u003eA: Put a toffee to your right side glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put a toffee to your right side glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a toffee to your right side glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put an almond shell to your left side glass 5- Put an almond shell to your left side glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a toffee to your right side glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a toffee to your right side glass\n\u003c/PRED\u003e","video":"183408751483717241.mp4"}
+{"uid":"14112862756550908764","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep the almond eggs 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":"4677000646467838633.mp4"}
+{"uid":"8117713197953110974","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black book up on the yellow file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13257013590739535314.mp4"}
+{"uid":"5150042881490173156","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass 9- Pickup the glass 10- Keep the glass on the white table 11- Pickup the glass 12- Put the paper glass on the table 13- Pull paper from the box 14- Put the paper on the white 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 paper on the white table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass 9- Pickup the glass 10- Keep the glass on the white table 11- Pickup the glass 12- Put the paper glass on the table 13- Pull paper from the box 14- Put the paper on the white table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the paper on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11184168805063239781.mp4"}
+{"uid":"2915687278196748257","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass 9- Pickup the glass 10- Keep the glass on the white table 11- Pickup the glass 12- Put the paper glass on the table 13- Put the tissue paper 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 tissue paper on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass 9- Pickup the glass 10- Keep the glass on the white table 11- Pickup the glass 12- Put the paper glass on the table 13- Put the tissue paper on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the tissue paper on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2934225966028890180.mp4"}
+{"uid":"9737739644919066590","text":"\u003ctask:success:discrete:True\u003e\nPut the pistachio in the paper glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e","video":"10109325820268707701.mp4"}
+{"uid":"18223224660541056133","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses 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":"9658269214054954648.mp4"}
+{"uid":"14243771543717281681","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":"12245418629671842360.mp4"}
+{"uid":"983061724018911122","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTake some pistas in the scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6466938770808705550.mp4"}
+{"uid":"6346296649057510017","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":"4545774080731030984.mp4"}
+{"uid":"664946186032121253","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a toffee to your right side glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put an almond shell to your left side glass 4- Put an almond shell to your left side glass 5- Put an almond shell to your left side glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass Q: immediate next step? \u003cPRED\u003eA: Put a toffee to your right side glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put a toffee to your right side glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a toffee to your right side glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a toffee to your right side glass\n\u003c/PRED\u003e","video":"6197443014783698530.mp4"}
+{"uid":"5547796239218626954","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the glass on the right table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the glass on the right table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the glass on the right table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the glass on the right table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the glass on the right table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the glass on the right table 2- Put the paper glass on the table 3- Pull paper from the box 4- Put the paper on the white table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass Q: immediate next step? \u003cPRED\u003eA: put the glass on the right table\n\u003c/PRED\u003e","video":"11279615835072328610.mp4"}
+{"uid":"11698482643128903649","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put an almond shell to your left side glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put an almond shell to your left side glass 2- Put an almond shell to your left side glass 3- Put an almond shell to your left side glass 4- Put an almond shell to your left side glass 5- Pickup the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut an almond shell to your left side glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut an almond shell to your left side 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: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass Q: immediate next step? \u003cPRED\u003eA: Put an almond shell to your left side glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put an almond shell to your left side glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put an almond shell to your left side glass\n\u003c/PRED\u003e","video":"9774929334656086624.mp4"}
+{"uid":"9274784504895568323","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass 9- Pickup the glass 10- Keep the glass on the white table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper glass on the table 2- Pull paper from the box 3- Put the paper on the white table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the paper glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put the paper glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass 9- Pickup the glass 10- Keep the glass on the white table Q: immediate next step? \u003cPRED\u003eA: Put the paper glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the paper glass on the table\n\u003c/PRED\u003e","video":"8303765260247762556.mp4"}
+{"uid":"190010831980084878","text":"\u003ctask:success:discrete:False\u003e\nPut the paper on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass 9- Pickup the glass 10- Keep the glass on the white table 11- Pickup the glass 12- Put the paper glass on the table 13- Pull paper from the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper on the white table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass 9- Pickup the glass 10- Keep the glass on the white table 11- Pickup the glass 12- Put the paper glass on the table 13- Pull paper from the box Q: immediate next step? \u003cPRED\u003eA: Put the paper on the white table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the paper on the white table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put the paper on the white table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper on the white table\n\u003c/PRED\u003e","video":"1558151151530504684.mp4"}
+{"uid":"49889433942402881","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5074366809273785254.mp4"}
+{"uid":"15801159755595963885","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":"9204135637701622455.mp4"}
+{"uid":"14823922308497522156","text":"\u003ctask:success:discrete:True\u003e\nput the pistachio in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pistachio in the glass\n\u003c/PRED\u003e","video":"12003732577031347815.mp4"}
+{"uid":"3524423831622687469","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a toffee to your right side glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut a toffee to your right side 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":"7088396617613078440.mp4"}
+{"uid":"684286786608193367","text":"\u003ctask:success:discrete:False\u003e\nPull paper from 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 some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Pull paper from the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pull paper from the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass 9- Pickup the glass 10- Keep the glass on the white table 11- Pickup the glass 12- Put the paper glass on the table Q: immediate next step? \u003cPRED\u003eA: Pull paper from the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pull paper from the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass 9- Pickup the glass 10- Keep the glass on the white table 11- Pickup the glass 12- Put the paper glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pull paper from the box 2- Put the paper on the white table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPull paper from 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":"16654496316974291621.mp4"}
+{"uid":"1736441395913421394","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pickup the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPickup the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Pickup the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPickup 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:success:discrete:True\u003e\nPut the paper glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pickup the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass 9- Pickup the glass 10- Keep the glass on the white table Q: next 5 steps? \u003cPRED\u003eA: 1- Pickup the glass 2- Pull paper from the box 3- Put the paper on the white table 4- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the paper glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass 9- Pickup the glass 10- Keep the glass on the white table Q: immediate next step? \u003cPRED\u003eA: Pickup the glass\n\u003c/PRED\u003e","video":"11586857459936009834.mp4"}
+{"uid":"11098202648520653774","text":"\u003ctask:success:discrete:True\u003e\nPut an almond shell to your left side glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put an almond shell to your left side glass\n\u003c/PRED\u003e","video":"9626063508000486813.mp4"}
+{"uid":"14478201368443075735","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachio in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachio in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass Q: immediate next step? \u003cPRED\u003eA: put the pistachio in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pistachio in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachio in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the pistachio in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachio in the glass 2- Put an almond shell to your left side glass 3- Put an almond shell to your left side glass 4- Pickup the glass 5- Keep the glass on the white table\n\u003c/PRED\u003e","video":"17311768313742536182.mp4"}
+{"uid":"13823187236725678585","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange packet in the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet in the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet in the paper glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put an almond shell to your left side glass 5- Put an almond shell to your left side glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet in 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","video":"13931918016849345776.mp4"}
+{"uid":"6815674639852939176","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":"5374595466359653772.mp4"}
+{"uid":"3008858820659789322","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":"5058367074584263719.mp4"}
+{"uid":"18089698298590884020","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the glass\n\u003c/PRED\u003e","video":"2390784507346415855.mp4"}
+{"uid":"16262182618819696733","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":"13811325875989084680.mp4"}
+{"uid":"4629416929772561419","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the paper glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the paper glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put the paper glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the paper glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass Q: immediate next step? \u003cPRED\u003eA: Put the paper glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the paper glass on the table 2- Pickup the glass 3- Put the paper glass on the table 4- Pull paper from the box 5- Put the paper on the white table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the paper glass on the table\n\u003c/PRED\u003e","video":"12254344442780274561.mp4"}
+{"uid":"12091643063863302844","text":"\u003ctask:success:discrete:True\u003e\nput the pistachio in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pistachio in the glass\n\u003c/PRED\u003e","video":"2561326602366326143.mp4"}
+{"uid":"8138736528453242608","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy balls in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"301757618518232688.mp4"}
+{"uid":"2685438793130075817","text":"\u003ctask:success:discrete:False\u003e\nPut 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: Put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass 9- Pickup the glass 10- Keep the glass on the white table 11- Pickup the glass 12- Put the paper glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tissue paper on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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: Put the tissue paper on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass 9- Pickup the glass 10- Keep the glass on the white table 11- Pickup the glass 12- Put the paper glass on the table Q: immediate next step? \u003cPRED\u003eA: Put the tissue paper on the table\n\u003c/PRED\u003e","video":"3048052471787207090.mp4"}
+{"uid":"13407811596336193988","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass 9- Pickup the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Keep the glass on the white table 2- Pickup the glass 3- Put the paper glass on the table 4- Pull paper from the box 5- Put the paper on the white table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nKeep the glass on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nKeep the glass on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass 9- Pickup the glass Q: immediate next step? \u003cPRED\u003eA: Keep the glass on the white table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Keep the glass on the white table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Keep the glass on the white table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Keep the glass on the white table\n\u003c/PRED\u003e","video":"13565358410983480323.mp4"}
+{"uid":"6347453620884227468","text":"\u003ctask:success:discrete:True\u003e\nPickup the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pickup the glass\n\u003c/PRED\u003e","video":"14535926999420546572.mp4"}
+{"uid":"7773237468511757570","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":"1535726292435437561.mp4"}
+{"uid":"16048357777926968097","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the paper glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the paper glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7002486235126065147.mp4"}
+{"uid":"12809585944861430506","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the white pebble into the transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9178231865713074243.mp4"}
+{"uid":"1954383051964361026","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut an almond shell to your left side 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: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass Q: immediate next step? \u003cPRED\u003eA: Put an almond shell to your left side glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put an almond shell to your left side glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put an almond shell to your left side glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put an almond shell to your left side glass 2- Put an almond shell to your left side glass 3- Put an almond shell to your left side glass 4- Pickup the glass 5- Keep the glass on the white table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put an almond shell to your left side glass\n\u003c/PRED\u003e","video":"7073911932501959537.mp4"}
+{"uid":"7536890997068055984","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":"9397155215282661804.mp4"}
+{"uid":"5083049697841744781","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":"17906724466716562311.mp4"}
+{"uid":"5996118870571936989","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the glass on the right table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the glass on the right table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4150679610110752386.mp4"}
+{"uid":"4008616009846919359","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pistachio in the paper glass 2- Put an almond shell to your left side glass 3- Put an almond shell to your left side glass 4- Pickup the glass 5- Keep the glass on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pistachio in the paper glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pistachio in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass Q: immediate next step? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e","video":"10884749909072163366.mp4"}
+{"uid":"509839595184040971","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pistachio in 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass Q: immediate next step? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pistachio in the paper glass 2- Pickup the glass 3- Keep the glass on the white table 4- Pickup the glass 5- Put the paper glass on the table\n\u003c/PRED\u003e","video":"5858487345799506828.mp4"}
+{"uid":"12534620394487293006","text":"\u003ctask:success:discrete:True\u003e\nput the packet in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the glass\n\u003c/PRED\u003e","video":"12356523755264313678.mp4"}
+{"uid":"3251704810117644804","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntouch the cardboard box right 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":"10124876305947997623.mp4"}
+{"uid":"10279751184389560973","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the highlighter in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10665278995914338983.mp4"}
+{"uid":"5854097744249209206","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pistachio in the paper glass 2- Pickup the glass 3- Keep the glass on the white table 4- Pickup the glass 5- Put the paper glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pistachio in 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass Q: immediate next step? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put the pistachio in the paper glass\n\u003c/PRED\u003e","video":"7855087991432839037.mp4"}
+{"uid":"16315801819009525257","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the packet in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put an almond shell to your left side glass 5- Put an almond shell to your left side glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass Q: immediate next step? \u003cPRED\u003eA: put the packet in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2705584412115452886.mp4"}
+{"uid":"18262765422228936053","text":"\u003ctask:success:discrete:True\u003e\nPut a toffee to your right side glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a toffee to your right side glass\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  packet in the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the  packet 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","video":"1868953829759354274.mp4"}
+{"uid":"10404103410196781295","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass 9- Pickup the glass 10- Keep the glass on the white table 11- Pickup the glass 12- Put the paper glass on the table 13- put the paper on the right 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 paper on the right table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass 9- Pickup the glass 10- Keep the glass on the white table 11- Pickup the glass 12- Put the paper glass on the table 13- put the paper on the right table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the paper on the right table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13301403414566650238.mp4"}
+{"uid":"7545315876873163850","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange packet in the paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange packet in the paper glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13280023721843935537.mp4"}
+{"uid":"10669655196628725720","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":"10556857502111956553.mp4"}
+{"uid":"5903975102219760389","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass 9- Pickup the glass 10- Keep the glass on the white table Q: next 5 steps? \u003cPRED\u003eA: 1- put the glass on the right table 2- Put the paper on the white table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the glass on the right table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the glass on the right table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass 9- Pickup the glass 10- Keep the glass on the white table Q: immediate next step? \u003cPRED\u003eA: put the glass on the right table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the glass on the right table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the glass on the right table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the glass on the right table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5106957816963700550.mp4"}
+{"uid":"7500369745001901378","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":"14453613020639965747.mp4"}
+{"uid":"7627237211493564160","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":"16007603186224876157.mp4"}
+{"uid":"5627636767053404131","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet in the paper glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet in the paper glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet in 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: Put the orange packet in the paper glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the paper glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange packet in 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:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the paper glass\n\u003c/PRED\u003e","video":"8986286443087457494.mp4"}
+{"uid":"11458292389389197434","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop few knifes 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":"3277302046402068676.mp4"}
+{"uid":"3609116871146373055","text":"\u003ctask:success:discrete:True\u003e\nPut an almond shell to your left side glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put an almond shell to your left side glass\n\u003c/PRED\u003e","video":"2097753740667911310.mp4"}
+{"uid":"17328654729897513341","text":"\u003ctask:success:discrete:False\u003e\nKeep the glass on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nKeep the glass on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Keep the glass on the white table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass 9- Pickup the glass 10- Keep the glass on the white table 11- Pickup the glass Q: immediate next step? \u003cPRED\u003eA: Keep the glass on the white table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Keep the glass on the white table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: Keep the glass on the white table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass 4- Put a toffee to your right side glass 5- Put an almond shell to your left side glass 6- Put an almond shell to your left side glass 7- Put an almond shell to your left side glass 8- Put an almond shell to your left side glass 9- Pickup the glass 10- Keep the glass on the white table 11- Pickup the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Keep the glass on the white table 2- Pull paper from the box 3- Put the paper on the white table 4- done\n\u003c/PRED\u003e","video":"18125890069518633034.mp4"}
+{"uid":"5447744967485401029","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":"15047723978329449571.mp4"}
+{"uid":"17480362556765446250","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":"3012657107538335051.mp4"}
+{"uid":"18118432108453815886","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the glass 2- Put an almond shell to your left side glass 3- Put an almond shell to your left side glass 4- Put an almond shell to your left side glass 5- Pickup the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the packet in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- Put a toffee to your right side glass 2- Put a toffee to your right side glass 3- Put a toffee to your right side glass Q: immediate next step? \u003cPRED\u003eA: put the packet in the glass\n\u003c/PRED\u003e","video":"10396700464790740661.mp4"}
+{"uid":"17734611534095309452","text":"\u003ctask:success:discrete:True\u003e\nput the pistachio in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pistachio in the glass\n\u003c/PRED\u003e","video":"12298946812687845484.mp4"}
+{"uid":"15515214298542524169","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":"13124256563841844628.mp4"}
+{"uid":"10092716823341963474","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the right brown object on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15409124911337323754.mp4"}
+{"uid":"12317195916512574698","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":"6456758742990180480.mp4"}
+{"uid":"14819825711788996732","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the seaweed snacks packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2762077989582439667.mp4"}
+{"uid":"11710936351662502104","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e","video":"15385804407596507639.mp4"}
+{"uid":"13480329894163658383","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the white keyboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7735327827670754921.mp4"}
+{"uid":"7264467847349000505","text":"\u003ctask:success:discrete:True\u003e\npick up the note book Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 note book\n\u003c/PRED\u003e","video":"15185402231640011993.mp4"}
+{"uid":"16173873956058535287","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the Almirah\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the note book\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please. last 20 steps: 1- open the Almirah Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the note book 2- close the Almirah 3- place the note book on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please. last 20 steps: 1- open the Almirah Q: immediate next step? \u003cPRED\u003eA: pick up the note book\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the note book\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please Q: immediate next step? \u003cPRED\u003eA: pick up the note book\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the note book Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\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 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:affordance:discriminative:discrete:True\u003e\npick up the note book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8549711341821661499.mp4"}
+{"uid":"1494418210488418215","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the chocolate 9- Put the chocolate on the chocolate Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate on the chocolate 2- Put the chocolate on the chocolate 3- Put the chocolate on the chocolate 4- Put the chocolate on the chocolate 5- Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the chocolate 9- Put the chocolate on the chocolate Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chocolate on the chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e","video":"11786474385685667901.mp4"}
+{"uid":"16612798868573582392","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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: Put the chocolate on the table\n\u003c/PRED\u003e","video":"17036778815238650669.mp4"}
+{"uid":"10721109168807484843","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. 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: Remove oatmeal packets from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the 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 the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4270434090531068623.mp4"}
+{"uid":"12486998769289503004","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14563814897932102192.mp4"}
+{"uid":"9701632037886987050","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the chocolate 5- Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e","video":"11368714477263277433.mp4"}
+{"uid":"15693072700334069238","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table 8- Put the packet on the table 9- Put the packet on the table 10- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table 8- Put the packet on the table 9- Put the packet on the table 10- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: done\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":"15484082604321664415.mp4"}
+{"uid":"10680083948264529960","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":"145810745751510019.mp4"}
+{"uid":"15246525996631065208","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18062234151300025885.mp4"}
+{"uid":"10230772565704251221","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the smart 50 packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1857064594917304395.mp4"}
+{"uid":"10095270120883635974","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp 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":"16181564520487012743.mp4"}
+{"uid":"12785130854144050697","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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: Remove oatmeal packets from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"2721725204592378708.mp4"}
+{"uid":"433105865770773101","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the chocolate 9- Put the chocolate on the chocolate 10- Put the chocolate on the chocolate 11- Put the chocolate on the chocolate 12- Put the chocolate on the chocolate 13- Put the chocolate on the chocolate Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate on the chocolate 2- Put the chocolate on the table 3- Put the chocolate on the chocolate 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chocolate on the chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the chocolate 9- Put the chocolate on the chocolate 10- Put the chocolate on the chocolate 11- Put the chocolate on the chocolate 12- Put the chocolate on the chocolate 13- Put the chocolate on the chocolate Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e","video":"2581075498285842294.mp4"}
+{"uid":"10277559207446654228","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"2536900379050391337.mp4"}
+{"uid":"11632667450363122216","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the alphabet tile 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":"8196636465481002119.mp4"}
+{"uid":"10024925677621355669","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the chocolate 9- Put the chocolate on the chocolate 10- Put the chocolate on the chocolate 11- Put the chocolate on the chocolate 12- Put the chocolate on the chocolate 13- Put the chocolate on the chocolate 14- Put the chocolate on the chocolate 15- Put the chocolate on the table Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the chocolate 9- Put the chocolate on the chocolate 10- Put the chocolate on the chocolate 11- Put the chocolate on the chocolate 12- Put the chocolate on the chocolate 13- Put the chocolate on the chocolate 14- Put the chocolate on the chocolate 15- Put the chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate on the chocolate 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chocolate on the chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the chocolate on the chocolate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11059323556089073447.mp4"}
+{"uid":"1645029878920670412","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar candy in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11671095355809139467.mp4"}
+{"uid":"17201917660989402924","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the 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: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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:planning:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e","video":"2739524193613603959.mp4"}
+{"uid":"15724846226876281099","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink 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":"6256852108438103452.mp4"}
+{"uid":"2768258811673947292","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table 8- Put the packet on the table 9- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the 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 the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table 8- Put the packet on the table 9- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. 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:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8056147662201573883.mp4"}
+{"uid":"15197338082352783584","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"1761098220439813579.mp4"}
+{"uid":"16782082928900113212","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. 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: Remove oatmeal packets from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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":"16529476625928481898.mp4"}
+{"uid":"4660469087255079855","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the chocolate 9- Put the chocolate on the chocolate 10- Put the chocolate on the chocolate 11- Put the chocolate on the chocolate 12- Put the chocolate on the chocolate 13- Put the chocolate on the chocolate 14- Put the chocolate on the chocolate 15- Put the chocolate on the table 16- Put the chocolate on the chocolate Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the chocolate on the chocolate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the chocolate 9- Put the chocolate on the chocolate 10- Put the chocolate on the chocolate 11- Put the chocolate on the chocolate 12- Put the chocolate on the chocolate 13- Put the chocolate on the chocolate 14- Put the chocolate on the chocolate 15- Put the chocolate on the table 16- Put the chocolate on the chocolate Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"9820901446994434372.mp4"}
+{"uid":"7238306054474270721","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":"10608596098142473232.mp4"}
+{"uid":"10890638473714692210","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"13313595705736550790.mp4"}
+{"uid":"5246787999799959801","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the chocolate on the chocolate Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chocolate on the chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate on the chocolate 2- Put the chocolate on the chocolate 3- Put the chocolate on the chocolate 4- Put the chocolate on the chocolate 5- Put the chocolate on the chocolate\n\u003c/PRED\u003e","video":"5405273062591183375.mp4"}
+{"uid":"16052119148470545006","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose 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":"11133639980655949940.mp4"}
+{"uid":"11880960075324799548","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chess coin in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17613498982255998707.mp4"}
+{"uid":"8081084048536894994","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":"10140793389300186124.mp4"}
+{"uid":"8673857854215567352","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please. last 20 steps: 1- open the Almirah 2- pick up the note book Q: next 5 steps? \u003cPRED\u003eA: 1- close the Almirah 2- place the note book on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please. last 20 steps: 1- open the Almirah 2- pick up the note book Q: immediate next step? \u003cPRED\u003eA: close the Almirah\n\u003c/PRED\u003e\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:planning:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please Q: immediate next step? \u003cPRED\u003eA: close the Almirah\n\u003c/PRED\u003e","video":"15558372112409734783.mp4"}
+{"uid":"2701207177431404920","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput instant oatmeal pack 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":"1229168048534496353.mp4"}
+{"uid":"8664083080095126879","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the chocolate Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the chocolate Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate on the chocolate 2- Put the chocolate on the chocolate 3- Put the chocolate on the chocolate 4- Put the chocolate on the chocolate 5- Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chocolate on the chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"237305323093211348.mp4"}
+{"uid":"9999576321391946254","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chocolate on the chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the chocolate 9- Put the chocolate on the chocolate 10- Put the chocolate on the chocolate 11- Put the chocolate on the chocolate 12- Put the chocolate on the chocolate Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the chocolate 9- Put the chocolate on the chocolate 10- Put the chocolate on the chocolate 11- Put the chocolate on the chocolate 12- Put the chocolate on the chocolate Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate on the chocolate 2- Put the chocolate on the chocolate 3- Put the chocolate on the table 4- Put the chocolate on the chocolate 5- done\n\u003c/PRED\u003e","video":"10425047638539995540.mp4"}
+{"uid":"1357629688593729701","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table 8- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- done\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table 8- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"11149582222901259138.mp4"}
+{"uid":"734761889115640124","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the chocolate 9- Put the chocolate on the chocolate 10- Put the chocolate on the chocolate Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate on the chocolate 2- Put the chocolate on the chocolate 3- Put the chocolate on the chocolate 4- Put the chocolate on the chocolate 5- Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chocolate on the chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the chocolate 9- Put the chocolate on the chocolate 10- Put the chocolate on the chocolate Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e","video":"18061695373215081799.mp4"}
+{"uid":"13958950735334790185","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the note book on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please Q: immediate next step? \u003cPRED\u003eA: place the note book on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the note book on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the note book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please. last 20 steps: 1- open the Almirah 2- pick up the note book 3- close the Almirah Q: immediate next step? \u003cPRED\u003eA: place the note book on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the note book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please. last 20 steps: 1- open the Almirah 2- pick up the note book 3- close the Almirah Q: next 5 steps? \u003cPRED\u003eA: 1- place the note book on the table 2- done\n\u003c/PRED\u003e","video":"4100383761117630899.mp4"}
+{"uid":"12562966720360995066","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":"8859967342194913358.mp4"}
+{"uid":"4084231498542646248","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the book 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":"9752993261533103290.mp4"}
+{"uid":"8898514809183304804","text":"\u003ctask:success:discrete:True\u003e\nPut the 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e","video":"16938490950890533003.mp4"}
+{"uid":"18163575591481538245","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":"8394707951345586089.mp4"}
+{"uid":"17644859103359967517","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate on the table 2- Put the chocolate on the chocolate 3- Put the chocolate on the chocolate 4- Put the chocolate on the chocolate 5- Put the chocolate on the chocolate\n\u003c/PRED\u003e","video":"12555560141889817763.mp4"}
+{"uid":"3985058822942919821","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the chocolate 9- Put the chocolate on the chocolate 10- Put the chocolate on the chocolate 11- Put the chocolate on the chocolate 12- Put the chocolate on the chocolate 13- Put the chocolate on the chocolate 14- Put the chocolate on the chocolate Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the chocolate 9- Put the chocolate on the chocolate 10- Put the chocolate on the chocolate 11- Put the chocolate on the chocolate 12- Put the chocolate on the chocolate 13- Put the chocolate on the chocolate 14- Put the chocolate on the chocolate Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate on the table 2- Put the chocolate on the chocolate 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e","video":"12927618404783869613.mp4"}
+{"uid":"12384416275441696029","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please. last 20 steps: 1- open the Almirah 2- pick up the note book 3- close the Almirah 4- place the note book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the note book on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Grab a notebook from supply cabinet and place it on my desk please. last 20 steps: 1- open the Almirah 2- pick up the note book 3- close the Almirah 4- place the note book on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the note book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6289168734558620546.mp4"}
+{"uid":"17903368914100440488","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. last 20 steps: 1- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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: Remove oatmeal packets from the tray. last 20 steps: 1- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"9984741589618441701.mp4"}
+{"uid":"7130837143452540073","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the chocolate on the chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the chocolate 9- Put the chocolate on the chocolate 10- Put the chocolate on the chocolate 11- Put the chocolate on the chocolate Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate on the chocolate 2- Put the chocolate on the chocolate 3- Put the chocolate on the chocolate 4- Put the chocolate on the table 5- Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the chocolate 9- Put the chocolate on the chocolate 10- Put the chocolate on the chocolate 11- Put the chocolate on the chocolate Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the chocolate\n\u003c/PRED\u003e","video":"5213306364372856820.mp4"}
+{"uid":"3118601336191197605","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":"11841104988239255150.mp4"}
+{"uid":"15224279591730489791","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":"13797779491385803015.mp4"}
+{"uid":"4366191628522220441","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"3222221376107515311.mp4"}
+{"uid":"8074193050092029255","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"847088271237725524.mp4"}
+{"uid":"11002395400190456480","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove oatmeal packets from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"15007467617031076102.mp4"}
+{"uid":"15205477671647444551","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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:planning:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e","video":"17383333510950868671.mp4"}
+{"uid":"4582575064199804389","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":"2118559130741028712.mp4"}
+{"uid":"91326650443797091","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":"9453807611639118181.mp4"}
+{"uid":"8908737984223684354","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":"4391066399198279389.mp4"}
+{"uid":"11006634186284940298","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup on 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":"12606844204137723468.mp4"}
+{"uid":"11146312504421017530","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the star 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":"853218840557987439.mp4"}
+{"uid":"397481923150043320","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the chocolate 4- Put the chocolate on the chocolate 5- Put the chocolate on the chocolate\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove Blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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: Put the chocolate on the table\n\u003c/PRED\u003e","video":"10460558873991179372.mp4"}
+{"uid":"525130815200957098","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer 8- place the green marker in the drawer 9- close the drawer 10- close the drawer 11- place the red pens on the shelf 12- open the drawer 13- place the red pens in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- place the pen on the shelf 3- open the drawer 4- place pen in the drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer 8- place the green marker in the drawer 9- close the drawer 10- close the drawer 11- place the red pens on the shelf 12- open the drawer 13- place the red pens in the drawer 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:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet 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":"17620643267024426739.mp4"}
+{"uid":"6678471642431978604","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":"17906296260001112005.mp4"}
+{"uid":"6608281997647283","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":"17501753529289502364.mp4"}
+{"uid":"15693171222234670659","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the basket on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 basket on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 basket on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring the supplies and alcohol wipes to the phone room. Please close the doors on your way out Q: immediate next step? \u003cPRED\u003eA: place the basket on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the basket on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring the supplies and alcohol wipes to the phone room. Please close the doors on your way out. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the basket on the table 2- place the organizer on the table 3- close the door 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring the supplies and alcohol wipes to the phone room. Please close the doors on your way out. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the basket on the table\n\u003c/PRED\u003e","video":"14196526737542155767.mp4"}
+{"uid":"13518341313060773305","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the green marker in the drawer 3- place the green marker in the drawer 4- close the drawer 5- close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet 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: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":"4486563045928975162.mp4"}
+{"uid":"1353264285060148827","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the sticky note put 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":"11833221486234292623.mp4"}
+{"uid":"12190240372881860331","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter the room with the can\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my coffee. Please recycle the can and bring me a cocunut water. last 20 steps: 1- pick up the can Q: immediate next step? \u003cPRED\u003eA: enter the room with the can\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: enter the room with the can\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nenter the room with the can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I'm done with my coffee. Please recycle the can and bring me a cocunut water. Q: immediate next step? \u003cPRED\u003eA: enter the room with the can\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nenter the room with the can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my coffee. Please recycle the can and bring me a cocunut water. last 20 steps: 1- pick up the can Q: next 5 steps? \u003cPRED\u003eA: 1- enter the room with the can 2- put the can in the bin 3- open refrigerator 4- pick up the white can 5- exit the room with can\n\u003c/PRED\u003e","video":"14992275623198000314.mp4"}
+{"uid":"12820999259801305860","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue cup 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":"12034878356770435219.mp4"}
+{"uid":"13336921208324609427","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the marker in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker in the drawer 2- place green marker on the shelf 3- close the drawer 4- open the drawer 5- place the green marker in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the marker in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the marker in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the marker in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the marker in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the marker in the drawer\n\u003c/PRED\u003e","video":"15697923321570713090.mp4"}
+{"uid":"10637671981087529004","text":"\u003ctask:success:discrete:True\u003e\nplace the green marker 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer 8- place the green marker in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet 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 put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer 8- place the green marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- close the drawer 3- place the red pens on the shelf 4- open the drawer 5- place the red pens in 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the green marker 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"12524797172131288560.mp4"}
+{"uid":"13915020442875686759","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":"2516146083357066374.mp4"}
+{"uid":"1200796372006719656","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange cable in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1559616829582666807.mp4"}
+{"uid":"17040443963849635054","text":"\u003ctask:success:discrete:True\u003e\nopen refrigerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open refrigerator\n\u003c/PRED\u003e","video":"9644291255247281438.mp4"}
+{"uid":"4023387361169395545","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: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: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 to the left side 4- 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:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"8231293385513084742.mp4"}
+{"uid":"8213242954115308366","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick 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":"15256201748319758005.mp4"}
+{"uid":"412933204103346281","text":"\u003ctask:success:discrete:True\u003e\npick up the white can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the white can\n\u003c/PRED\u003e","video":"9001198715256880506.mp4"}
+{"uid":"10498025214034901965","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the salt 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":"1882626991437006255.mp4"}
+{"uid":"15816633754470507367","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","video":"4118479685078192880.mp4"}
+{"uid":"9643728506622861391","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the organizer on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the organizer on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"117159711503299796.mp4"}
+{"uid":"10763186401203539836","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I'm done with my coffee. Please recycle the can and bring me a cocunut water. Q: immediate next step? \u003cPRED\u003eA: pick up the white can\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my coffee. Please recycle the can and bring me a cocunut water. last 20 steps: 1- pick up the can 2- enter the room with the can 3- put the can in the bin 4- open refrigerator Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the white can 2- exit the room with can 3- put can on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my coffee. Please recycle the can and bring me a cocunut water. last 20 steps: 1- pick up the can 2- enter the room with the can 3- put the can in the bin 4- open refrigerator Q: immediate next step? \u003cPRED\u003eA: pick up the white can\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the white can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the white can\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the white can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the white can\n\u003c/PRED\u003e","video":"845914029547680446.mp4"}
+{"uid":"1206303653756614979","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green candy in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3827561354421350229.mp4"}
+{"uid":"7993974212251279973","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the basket into the self Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8553471339964910867.mp4"}
+{"uid":"13925682295839362901","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my coffee. Please recycle the can and bring me a cocunut water. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the can\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my coffee. Please recycle the can and bring me a cocunut water. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the can 2- enter the room with the can 3- put the can in the bin 4- open refrigerator 5- pick up the white can\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I'm done with my coffee. Please recycle the can and bring me a cocunut water. Q: immediate next step? \u003cPRED\u003eA: pick up the can\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the can\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the can\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14804270413437495461.mp4"}
+{"uid":"7667145268920408449","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17015196349829467093.mp4"}
+{"uid":"3062761189317729100","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen on the shelf\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: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet 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 put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer 8- place the green marker in the drawer 9- close the drawer 10- close the drawer 11- place the red pens on the shelf 12- open the drawer 13- place the red pens in the drawer 14- close the drawer 15- place the pen on the shelf 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:True\u003e\nplace the pen on the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer 8- place the green marker in the drawer 9- close the drawer 10- close the drawer 11- place the red pens on the shelf 12- open the drawer 13- place the red pens in the drawer 14- close the drawer 15- place the pen on the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place pen in the drawer 3- close the drawer 4- close the almirah 5- 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","video":"14207093924507159662.mp4"}
+{"uid":"12067080658991171284","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pen in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer 8- place the green marker in the drawer 9- close the drawer 10- close the drawer 11- place the red pens on the shelf 12- open the drawer 13- place the red pens in the drawer 14- close the drawer 15- place the pen on the shelf 16- open the drawer Q: immediate next step? \u003cPRED\u003eA: place pen in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pen in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pen in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet Q: immediate next step? \u003cPRED\u003eA: place pen in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer 8- place the green marker in the drawer 9- close the drawer 10- close the drawer 11- place the red pens on the shelf 12- open the drawer 13- place the red pens in the drawer 14- close the drawer 15- place the pen on the shelf 16- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place pen in the drawer 2- close the drawer 3- close the almirah 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pen 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","video":"14278676075143850759.mp4"}
+{"uid":"11002974592469296339","text":"\u003ctask:success:discrete:False\u003e\nplace the organizer on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 the supplies and alcohol wipes to the phone room. Please close the doors on your way out. last 20 steps: 1- place the basket on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the organizer on the table 2- close the door 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the organizer on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the organizer on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the organizer on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 the supplies and alcohol wipes to the phone room. Please close the doors on your way out. last 20 steps: 1- place the basket on the table Q: immediate next step? \u003cPRED\u003eA: place the organizer on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring the supplies and alcohol wipes to the phone room. Please close the doors on your way out Q: immediate next step? \u003cPRED\u003eA: place the organizer on the table\n\u003c/PRED\u003e","video":"11558605955308484990.mp4"}
+{"uid":"16264332545690207887","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring the supplies and alcohol wipes to the phone room. Please close the doors on your way out. last 20 steps: 1- place the basket on the table 2- place the organizer on the table 3- close the door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring the supplies and alcohol wipes to the phone room. Please close the doors on your way out Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring the supplies and alcohol wipes to the phone room. Please close the doors on your way out. last 20 steps: 1- place the basket on the table 2- place the organizer on the table 3- close the door Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e","video":"15342188629574879773.mp4"}
+{"uid":"13585850368630032033","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red 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":"11158697038568976241.mp4"}
+{"uid":"5108095339985759277","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I'm done with my coffee. Please recycle the can and bring me a cocunut water. 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: I'm done with my coffee. Please recycle the can and bring me a cocunut water. last 20 steps: 1- pick up the can 2- enter the room with the can 3- put the can in the bin 4- open refrigerator 5- pick up the white can 6- exit the room with can Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask: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: I'm done with my coffee. Please recycle the can and bring me a cocunut water. last 20 steps: 1- pick up the can 2- enter the room with the can 3- put the can in the bin 4- open refrigerator 5- pick up the white can 6- exit the room with can Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"16929184051750862296.mp4"}
+{"uid":"10563603368513719844","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":"5611807876410791478.mp4"}
+{"uid":"7370564968843360066","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets to the left side\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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: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 to the left side 2- 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 Q: immediate next step? \u003cPRED\u003eA: put packets to the left side\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put 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: put packets to the left side\n\u003c/PRED\u003e","video":"13563651595817617738.mp4"}
+{"uid":"5456762827148945400","text":"\u003ctask:success:discrete:True\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my coffee. Please recycle the can and bring me a cocunut water. last 20 steps: 1- pick up the can 2- enter the room with the can 3- put the can in the bin 4- open refrigerator 5- pick up the white can 6- exit the room with can 7- put can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I'm done with my coffee. Please recycle the can and bring me a cocunut water. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my coffee. Please recycle the can and bring me a cocunut water. last 20 steps: 1- pick up the can 2- enter the room with the can 3- put the can in the bin 4- open refrigerator 5- pick up the white can 6- exit the room with can 7- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"657884925994466215.mp4"}
+{"uid":"6462506499612311730","text":"\u003ctask:success:discrete:True\u003e\nput the can 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: put the can in the bin\n\u003c/PRED\u003e","video":"11663024635182914326.mp4"}
+{"uid":"16402869976800658702","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"8585289021324594706.mp4"}
+{"uid":"14766406407936595069","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a stand on right 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":"12591659156257883031.mp4"}
+{"uid":"2410186219016900111","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place green marker on the shelf\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:True\u003e\nplace green marker on the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet 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: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- open the drawer 3- place the green marker in the drawer 4- place the green marker in the drawer 5- 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":"5257454780716438929.mp4"}
+{"uid":"5861252068970437668","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":"11029955781697992262.mp4"}
+{"uid":"3145141465201072111","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring the supplies and alcohol wipes to the phone room. Please close the doors on your way out. last 20 steps: 1- place the basket on the table 2- place the organizer on the table Q: immediate next step? \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:planning:freeform\u003e\ncurrent goal is: please bring the supplies and alcohol wipes to the phone room. Please close the doors on your way out Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring the supplies and alcohol wipes to the phone room. Please close the doors on your way out. last 20 steps: 1- place the basket on the table 2- place the organizer on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the door 2- done\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e","video":"16731508529991596762.mp4"}
+{"uid":"1264291769616391997","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the right sticky notes from 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":"3967653863626068876.mp4"}
+{"uid":"1436161615220052073","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":"2176614353010658092.mp4"}
+{"uid":"3935225181039918937","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer 8- place the green marker in the drawer 9- close the drawer 10- close the drawer 11- place the red pens on the shelf 12- open the drawer 13- place the red pens in the drawer 14- close the drawer 15- place the pen on the shelf 16- open the drawer 17- place pen in the drawer 18- close the drawer 19- 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: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer 8- place the green marker in the drawer 9- close the drawer 10- close the drawer 11- place the red pens on the shelf 12- open the drawer 13- place the red pens in the drawer 14- close the drawer 15- place the pen on the shelf 16- open the drawer 17- place pen in the drawer 18- close the drawer 19- close the almirah Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the almirah\n\u003c/PRED\u003e","video":"13631941249596797392.mp4"}
+{"uid":"7160080122224897230","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer Q: immediate next step? \u003cPRED\u003eA: place the green marker in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the green marker in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green marker in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the green marker in the drawer 2- close the drawer 3- close the drawer 4- place the red pens on the shelf 5- open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green marker in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the green marker in the drawer\n\u003c/PRED\u003e","video":"1083815275298475694.mp4"}
+{"uid":"1119825954116528420","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:planning:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet 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 put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer 8- place the green marker in the drawer 9- close the drawer 10- close the drawer 11- place the red pens on the shelf 12- open the drawer 13- place the red pens in the drawer 14- close the drawer 15- place the pen on the shelf 16- open the drawer 17- place pen in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- close the almirah 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer 8- place the green marker in the drawer 9- close the drawer 10- close the drawer 11- place the red pens on the shelf 12- open the drawer 13- place the red pens in the drawer 14- close the drawer 15- place the pen on the shelf 16- open the drawer 17- place pen in the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"16436206066287746095.mp4"}
+{"uid":"12926167986127758862","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the red pens on the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer 8- place the green marker in the drawer 9- close the drawer 10- close the drawer 11- place the red pens on the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the red pens in the drawer 3- close the drawer 4- place the pen on the shelf 5- open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer 8- place the green marker in the drawer 9- close the drawer 10- close the drawer 11- place the red pens on the shelf 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:planning:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the red pens on the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1490869488009401555.mp4"}
+{"uid":"6457274787819691821","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: 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: 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 to the left side\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: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","video":"6441039846619892512.mp4"}
+{"uid":"6246483397635654864","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":"1743188300343183648.mp4"}
+{"uid":"603177655830537858","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the straw 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":"2931672060459870105.mp4"}
+{"uid":"4840966479375618519","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2882565026649875414.mp4"}
+{"uid":"15447201721692871364","text":"\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 put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer 8- place the green marker in the drawer 9- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- place the red pens on the shelf 3- open the drawer 4- place the red pens in the drawer 5- 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: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 put back blue highligher , red pens ,green expo marker in the office supply cabinet 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 put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer 8- place the green marker in the drawer 9- close the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"5375092858722533622.mp4"}
+{"uid":"2670912795919303892","text":"\u003ctask:success:discrete:True\u003e\nplace the marker on the shelf Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the marker in the drawer 3- place green marker on the shelf 4- close the drawer 5- open the drawer\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the marker on the shelf\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: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet 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":"7830117022301453576.mp4"}
+{"uid":"4679643820277370970","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the red pens in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red pens in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer 8- place the green marker in the drawer 9- close the drawer 10- close the drawer 11- place the red pens on the shelf 12- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the red pens in the drawer 2- close the drawer 3- place the pen on the shelf 4- open the drawer 5- place pen in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red pens in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red pens in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red pens in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer 8- place the green marker in the drawer 9- close the drawer 10- close the drawer 11- place the red pens on the shelf 12- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the red pens in the drawer\n\u003c/PRED\u003e","video":"16668559435838060556.mp4"}
+{"uid":"3845937180436496708","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7441416402229721690.mp4"}
+{"uid":"772683738943885107","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":"11271133808887082330.mp4"}
+{"uid":"5075879114820772796","text":"\u003ctask:success:discrete:True\u003e\nput packets to the left side Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 to the left side Q: next 5 steps? \u003cPRED\u003eA: 1- 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 to the left side Q: immediate next step? \u003cPRED\u003eA: 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: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packets to the left side\n\u003c/PRED\u003e","video":"163828444154018238.mp4"}
+{"uid":"663554867511244821","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red pens on the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the red pens on the shelf\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer 8- place the green marker in the drawer 9- close the drawer 10- close the drawer Q: immediate next step? \u003cPRED\u003eA: place the red pens on the shelf\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red pens on the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red pens 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer 8- place the green marker in the drawer 9- close the drawer 10- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the red pens on the shelf 2- open the drawer 3- place the red pens in the drawer 4- close the drawer 5- place the pen on the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red pens 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","video":"603972345082101334.mp4"}
+{"uid":"7532557525069457980","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npour pistachio from the pink cup into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10369087690974806626.mp4"}
+{"uid":"13640535184000697664","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace brown packet on the 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":"3455784519728594555.mp4"}
+{"uid":"10321429533291255596","text":"\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: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: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\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- put packet on the table 3- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- put packets to the left side 3- done\n\u003c/PRED\u003e","video":"6780938204346136488.mp4"}
+{"uid":"17248070100798442070","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer Q: immediate next step? \u003cPRED\u003eA: place green marker on the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place green marker on the shelf 2- close the drawer 3- open the drawer 4- place the green marker in the drawer 5- place the green marker in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet Q: immediate next step? \u003cPRED\u003eA: place green marker on the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace green marker 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: place green marker on the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace green marker on the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place green marker on the shelf\n\u003c/PRED\u003e","video":"6602518970108476289.mp4"}
+{"uid":"15172900852662240180","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":"1761631612683388123.mp4"}
+{"uid":"11422899113148309458","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the shelf\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the pen on the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer 8- place the green marker in the drawer 9- close the drawer 10- close the drawer 11- place the red pens on the shelf 12- open the drawer 13- place the red pens in the drawer 14- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the shelf 2- open the drawer 3- place pen in the drawer 4- close the drawer 5- close the almirah\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer 8- place the green marker in the drawer 9- close the drawer 10- close the drawer 11- place the red pens on the shelf 12- open the drawer 13- place the red pens in the drawer 14- close the drawer Q: immediate next step? \u003cPRED\u003eA: place the pen on the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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","video":"8633844917042581014.mp4"}
+{"uid":"14990305411931801191","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: I'm done with my coffee. Please recycle the can and bring me a cocunut water. Q: immediate next step? \u003cPRED\u003eA: exit the room with can\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my coffee. Please recycle the can and bring me a cocunut water. last 20 steps: 1- pick up the can 2- enter the room with the can 3- put the can in the bin 4- open refrigerator 5- pick up the white can Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room with can 2- put can on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room with can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my coffee. Please recycle the can and bring me a cocunut water. last 20 steps: 1- pick up the can 2- enter the room with the can 3- put the can in the bin 4- open refrigerator 5- pick up the white can Q: immediate next step? \u003cPRED\u003eA: exit the room with can\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room with can\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room with can\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room with can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14310468119997101140.mp4"}
+{"uid":"13485090316353528068","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the green marker in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the green marker in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the green marker in the drawer 2- place the green marker in the drawer 3- close the drawer 4- close the drawer 5- place the red pens on the shelf\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green marker in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet Q: immediate next step? \u003cPRED\u003eA: place the green marker in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green marker in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the green marker 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","video":"2930067452452199762.mp4"}
+{"uid":"10922481237679566079","text":"\u003ctask:success:discrete:True\u003e\nplace the basket on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 basket on the table\n\u003c/PRED\u003e","video":"11164125528201123627.mp4"}
+{"uid":"8394420637889054389","text":"\u003ctask:success:discrete:True\u003e\nenter the room with the can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: enter the room with the can\n\u003c/PRED\u003e","video":"17657972402690631666.mp4"}
+{"uid":"17524870364927149533","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the can 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: I'm done with my coffee. Please recycle the can and bring me a cocunut water. last 20 steps: 1- pick up the can 2- enter the room with the can Q: immediate next step? \u003cPRED\u003eA: put the can in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my coffee. Please recycle the can and bring me a cocunut water. last 20 steps: 1- pick up the can 2- enter the room with the can Q: next 5 steps? \u003cPRED\u003eA: 1- put the can in the bin 2- open refrigerator 3- pick up the white can 4- exit the room with can 5- put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I'm done with my coffee. Please recycle the can and bring me a cocunut water. Q: immediate next step? \u003cPRED\u003eA: put the can in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the can 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can in the bin\n\u003c/PRED\u003e","video":"9211817085059720303.mp4"}
+{"uid":"17036880400691247510","text":"\u003ctask:success:discrete:True\u003e\nexit the room with can Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: exit the room with can\n\u003c/PRED\u003e","video":"16988164232620641837.mp4"}
+{"uid":"11889862913895640688","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the right orange 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":"9734570757871550378.mp4"}
+{"uid":"13837540848809261984","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3159990955365456546.mp4"}
+{"uid":"8506645960072036460","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open refrigerator\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open refrigerator\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my coffee. Please recycle the can and bring me a cocunut water. last 20 steps: 1- pick up the can 2- enter the room with the can 3- put the can in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- open refrigerator 2- pick up the white can 3- exit the room with can 4- put can on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I'm done with my coffee. Please recycle the can and bring me a cocunut water. last 20 steps: 1- pick up the can 2- enter the room with the can 3- put the can in the bin Q: immediate next step? \u003cPRED\u003eA: open refrigerator\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I'm done with my coffee. Please recycle the can and bring me a cocunut water. Q: immediate next step? \u003cPRED\u003eA: open refrigerator\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen refrigerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14142724851100598662.mp4"}
+{"uid":"10272342649150870843","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet Q: immediate next step? \u003cPRED\u003eA: close the almirah\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer 8- place the green marker in the drawer 9- close the drawer 10- close the drawer 11- place the red pens on the shelf 12- open the drawer 13- place the red pens in the drawer 14- close the drawer 15- place the pen on the shelf 16- open the drawer 17- place pen in the drawer 18- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- close the almirah 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back blue highligher , red pens ,green expo marker in the office supply cabinet. last 20 steps: 1- place the marker on the shelf 2- open the drawer 3- place the marker in the drawer 4- place green marker on the shelf 5- close the drawer 6- open the drawer 7- place the green marker in the drawer 8- place the green marker in the drawer 9- close the drawer 10- close the drawer 11- place the red pens on the shelf 12- open the drawer 13- place the red pens in the drawer 14- close the drawer 15- place the pen on the shelf 16- open the drawer 17- place pen in the drawer 18- close the drawer Q: immediate next step? \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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the almirah\n\u003c/PRED\u003e\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: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","video":"14190400551009801651.mp4"}
+{"uid":"15999447422626456924","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the left 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":"13807846105236677859.mp4"}
+{"uid":"14110452084833640073","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange 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":"15615156201046655277.mp4"}
+{"uid":"12961121892282636262","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the right most 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":"1054668314879242759.mp4"}
+{"uid":"13416094955666832156","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 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: 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 to the left side 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","video":"2640218710187921814.mp4"}
+{"uid":"8721550734744789128","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":"16566080686221732634.mp4"}
+{"uid":"17652239448920562445","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the glasses in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14809097365409117079.mp4"}
+{"uid":"8584827451843358029","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":"13115710546667570871.mp4"}
+{"uid":"4089992967140107436","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket 6- put the white duck in the grey basket 7- drop the toy into the basket 8- drop the toy into the basket 9- drop the toy into the basket Q: immediate next step? \u003cPRED\u003eA: put the white duck in the grey basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white duck in the grey 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: separate the small and big rubber ducks into different baskets. Q: immediate next step? \u003cPRED\u003eA: put the white duck in the grey basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white duck in the grey basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white duck in the grey basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket 6- put the white duck in the grey basket 7- drop the toy into the basket 8- drop the toy into the basket 9- drop the toy into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the white duck in the grey basket 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white duck in the grey 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":"17922174322170949697.mp4"}
+{"uid":"9704481593389786902","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"4269558705741884054.mp4"}
+{"uid":"15910982019211625768","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket 6- put the white duck in the grey basket 7- drop the toy into the basket 8- drop the toy into the basket 9- drop the toy into the basket 10- drop the toy into the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket 6- put the white duck in the grey basket 7- drop the toy into the basket 8- drop the toy into the basket 9- drop the toy into the basket 10- drop the toy into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the toy into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9514755899047997614.mp4"}
+{"uid":"7224522290253354139","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow duck in the white basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the yellow duck in the white 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":"6187446746437581039.mp4"}
+{"uid":"10102201895801795051","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. 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- place the packet in the tray 4- 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- 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:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket 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: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","video":"6082303461387637554.mp4"}
+{"uid":"14771553223324183997","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntake out a 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":"15414895054803699859.mp4"}
+{"uid":"10624452325454368437","text":"\u003ctask:success:discrete:True\u003e\nput the white duck in the grey 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 duck in the grey basket\n\u003c/PRED\u003e","video":"13226034905889053659.mp4"}
+{"uid":"18141702899738924315","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the orange Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7837444980850003152.mp4"}
+{"uid":"876811945682200367","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the violet duck in grey basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the violet duck in grey 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":"3829657930394411191.mp4"}
+{"uid":"12256893128100689977","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket 6- put the white duck in the grey basket 7- drop the toy into the basket 8- drop the toy into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop the toy into the basket 2- drop the toy into the basket 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the toy into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket 6- put the white duck in the grey basket 7- drop the toy into the basket 8- drop the toy into the basket Q: immediate next step? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the toy into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. Q: immediate next step? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e","video":"2207193384492479397.mp4"}
+{"uid":"331388323724467270","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the toy into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11809024918384576329.mp4"}
+{"uid":"18354616398148344649","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the toy into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket 6- put the white duck in the grey basket 7- drop the toy into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop the toy into the basket 2- drop the toy into the basket 3- drop the toy into the basket 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. Q: immediate next step? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket 6- put the white duck in the grey basket 7- drop the toy into the basket Q: immediate next step? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e","video":"12573618213002688912.mp4"}
+{"uid":"426062618584077285","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the toy into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. Q: immediate next step? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the toy into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket Q: immediate next step? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop the toy into the basket 2- put the white duck in the grey basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket\n\u003c/PRED\u003e","video":"11766294076458066533.mp4"}
+{"uid":"5925876908766223960","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate crunch 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":"15514364508625561652.mp4"}
+{"uid":"8809285540463799535","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the toy into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8167271812029265340.mp4"}
+{"uid":"8516485181325657447","text":"\u003ctask:success:discrete:False\u003e\ndrop the toy into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the toy into the basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. Q: immediate next step? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the toy into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18303701600415842471.mp4"}
+{"uid":"2576030088523369281","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 chips into the basket 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. 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- place the packet in the tray 3- 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- 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"11301512118458407753.mp4"}
+{"uid":"11047716299931077666","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":"10605595617270263513.mp4"}
+{"uid":"12693232421686240419","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white duck in the grey basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white duck in the grey 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 white duck in the grey basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. Q: immediate next step? \u003cPRED\u003eA: put the white duck in the grey basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white duck in the grey 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: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket Q: immediate next step? \u003cPRED\u003eA: put the white duck in the grey basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the white duck in the grey basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket\n\u003c/PRED\u003e","video":"3093335597706201863.mp4"}
+{"uid":"11879017673127773274","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket Q: immediate next step? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. Q: immediate next step? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the toy into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the toy into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop the toy into the basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- put the white duck in the grey basket\n\u003c/PRED\u003e","video":"6294454232632651003.mp4"}
+{"uid":"14557030495271300941","text":"\u003ctask:success:discrete:True\u003e\nput the yellow duck in the white 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 yellow duck in the white basket\n\u003c/PRED\u003e","video":"16725037774704884132.mp4"}
+{"uid":"8857579046930369287","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12774177686434381137.mp4"}
+{"uid":"8581756598470793004","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 chips into the basket. 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. 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- place the packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket 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":"10874746905837757877.mp4"}
+{"uid":"8120353467465028058","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup on the existing cup stack in the spinning display Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15768104025966563686.mp4"}
+{"uid":"8811369512986974095","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":"1216809135928347054.mp4"}
+{"uid":"9313069509984850080","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":"1693921647330139621.mp4"}
+{"uid":"4092132006973453147","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":"7639546846208006221.mp4"}
+{"uid":"2444324566244371204","text":"\u003ctask:success:discrete:False\u003e\nput the yellow duck in the white 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: separate the small and big rubber ducks into different baskets. Q: immediate next step? \u003cPRED\u003eA: put the yellow duck in the white basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow duck in the white 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: separate the small and big rubber ducks into different baskets. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the yellow duck in the white basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow duck in the white basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow duck in the white basket\n\u003c/PRED\u003e","video":"12825819719062392047.mp4"}
+{"uid":"11319492543971296563","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the brown 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":"230830336724707680.mp4"}
+{"uid":"11341643975937259257","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 chips into the basket 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 chips into the basket. 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. 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","video":"9427364485071845722.mp4"}
+{"uid":"1548994605574971703","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop 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":"4293427736660811359.mp4"}
+{"uid":"13296255765396827365","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":"17134241013902379784.mp4"}
+{"uid":"10739691701488552513","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue marker in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15710663894288437692.mp4"}
+{"uid":"18008311153581927226","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the envelope in the glass cage Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7927146957113241850.mp4"}
+{"uid":"8161192536343954844","text":"\u003ctask:success:discrete:False\u003e\nput the yellow duck in the white 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: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- put the white duck in the grey basket 4- drop the toy into the basket 5- drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket Q: immediate next step? \u003cPRED\u003eA: put the yellow duck in the white basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow duck in the white 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: separate the small and big rubber ducks into different baskets. Q: immediate next step? \u003cPRED\u003eA: put the yellow duck in the white basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow duck in the white basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow duck in the white basket\n\u003c/PRED\u003e","video":"13429876588132534943.mp4"}
+{"uid":"14570461157271927020","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":"18281097038787774284.mp4"}
+{"uid":"12053250637448332799","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":"872824824203319099.mp4"}
+{"uid":"1692633657275254280","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. 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\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. 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: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":"4979318082084180040.mp4"}
+{"uid":"12395456992639386394","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. Q: immediate next step? \u003cPRED\u003eA: put the black duck in the grey basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black duck in the grey basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket 6- put the white duck in the grey basket 7- drop the toy into the basket 8- drop the toy into the basket Q: immediate next step? \u003cPRED\u003eA: put the black duck in the grey basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black duck in the grey 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 black duck in the grey basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket 6- put the white duck in the grey basket 7- drop the toy into the basket 8- drop the toy into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the black duck in the grey basket 2- drop the toy into the basket 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black duck in the grey 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":"3160549810363879683.mp4"}
+{"uid":"16620179480760016810","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. 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\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 chips into the basket. 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: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 chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"2904521261067539370.mp4"}
+{"uid":"2994786209959117121","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":"5539703028167259044.mp4"}
+{"uid":"16251364426011264579","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the toy into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"350956037741964449.mp4"}
+{"uid":"130070863464642795","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow duck in the white basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- put the white duck in the grey basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow duck in the white 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: separate the small and big rubber ducks into different baskets. Q: immediate next step? \u003cPRED\u003eA: put the yellow duck in the white basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket Q: immediate next step? \u003cPRED\u003eA: put the yellow duck in the white basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow duck in the white basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow duck in the white 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":"8379164843746080845.mp4"}
+{"uid":"7661933046475680184","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the toy into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5068612019403265254.mp4"}
+{"uid":"12782054539828468460","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":"1983884139134192060.mp4"}
+{"uid":"15162159265862164331","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange duck in the grey basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange duck in the grey 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":"6653073014605728939.mp4"}
+{"uid":"9250846491167713129","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove close to the shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10774242884854692631.mp4"}
+{"uid":"4112268336155729794","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- put the white duck in the grey basket 5- drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow duck in the white 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 yellow duck in the white basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket Q: immediate next step? \u003cPRED\u003eA: put the yellow duck in the white basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow duck in the white basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. Q: immediate next step? \u003cPRED\u003eA: put the yellow duck in the white basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow duck in the white 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":"9374270219931961234.mp4"}
+{"uid":"2922961782659660435","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop the toy into the basket 2- drop the toy into the basket 3- put the white duck in the grey basket 4- drop the toy into the basket 5- drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the toy into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. Q: immediate next step? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the toy into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket Q: immediate next step? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e","video":"698835245644320383.mp4"}
+{"uid":"18074641398109673456","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the toy into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16995861394460567673.mp4"}
+{"uid":"888748685670297234","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange object into 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":"14545468091066393472.mp4"}
+{"uid":"2241275040763736605","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop apple 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":"13746297137002988972.mp4"}
+{"uid":"150290490993643571","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the register 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":"13001223405813368211.mp4"}
+{"uid":"541703716294513203","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange duck in the grey 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 orange duck in the grey basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange duck in the grey basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange duck in the grey basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. Q: immediate next step? \u003cPRED\u003eA: put the orange duck in the grey basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket 6- put the white duck in the grey basket Q: immediate next step? \u003cPRED\u003eA: put the orange duck in the grey basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket 6- put the white duck in the grey basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange duck in the grey basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- done\n\u003c/PRED\u003e","video":"17168007118802090079.mp4"}
+{"uid":"9467015502131949126","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop the toy into the basket 2- drop the toy into the basket 3- drop the toy into the basket 4- put the white duck in the grey basket 5- drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket Q: immediate next step? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the toy into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. Q: immediate next step? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the toy into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2390701301363717177.mp4"}
+{"uid":"11788975322193214221","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista 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":"17254440085581564805.mp4"}
+{"uid":"3892802777896730588","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. 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: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\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 chips into the basket. 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- place the packet in the tray\n\u003c/PRED\u003e","video":"15653455381449400492.mp4"}
+{"uid":"11326865147937417829","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":"843577585393239124.mp4"}
+{"uid":"13283527387655673248","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":"3871964800292860654.mp4"}
+{"uid":"14966137835552309108","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the silver packet in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17495879827904961668.mp4"}
+{"uid":"11923180380855043943","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16089975756268787480.mp4"}
+{"uid":"4782057487140101001","text":"\u003ctask:success:discrete:True\u003e\ndrop the toy into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e","video":"1734455867448566608.mp4"}
+{"uid":"4626586214485189182","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket Q: immediate next step? \u003cPRED\u003eA: put the violet duck in grey basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the violet duck in grey basket 2- put the white duck in the grey basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the violet duck in grey basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. Q: immediate next step? \u003cPRED\u003eA: put the violet duck in grey basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the violet duck in grey 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 violet duck in grey basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the violet duck in grey basket\n\u003c/PRED\u003e","video":"45564945975282692.mp4"}
+{"uid":"7787084388763862894","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop the toy into the basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the toy into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the toy into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. Q: immediate next step? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket Q: immediate next step? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e","video":"1599565107103449725.mp4"}
+{"uid":"6531119085642760763","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. 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: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:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. 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","video":"9002326612557948775.mp4"}
+{"uid":"17288103284837118422","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":"16561688141025247033.mp4"}
+{"uid":"8501547432165289269","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack yellow 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":"5071250741816940783.mp4"}
+{"uid":"11949569242914858985","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue packet in the small bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9143555269517609744.mp4"}
+{"uid":"17378214810601832021","text":"\u003ctask:success:discrete:False\u003e\ndrop the toy into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket 6- put the white duck in the grey basket Q: immediate next step? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the toy into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket 6- put the white duck in the grey basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop the toy into the basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. Q: immediate next step? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e","video":"5353992623546238338.mp4"}
+{"uid":"2130831459325412611","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket 6- put the white duck in the grey basket 7- drop the toy into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue duck in the grey basket 2- drop the toy into the basket 3- drop the toy into the basket 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue duck in the grey basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue duck in the grey 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: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket 6- put the white duck in the grey basket 7- drop the toy into the basket Q: immediate next step? \u003cPRED\u003eA: put the blue duck in the grey basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue duck in the grey 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: separate the small and big rubber ducks into different baskets. Q: immediate next step? \u003cPRED\u003eA: put the blue duck in the grey basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue duck in the grey basket\n\u003c/PRED\u003e","video":"7700857978189084810.mp4"}
+{"uid":"1991396654681253012","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the toy into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. Q: immediate next step? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket 6- put the white duck in the grey basket 7- drop the toy into the basket 8- drop the toy into the basket 9- drop the toy into the basket Q: immediate next step? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the toy into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: separate the small and big rubber ducks into different baskets. last 20 steps: 1- put the yellow duck in the white basket 2- drop the toy into the basket 3- drop the toy into the basket 4- drop the toy into the basket 5- drop the toy into the basket 6- put the white duck in the grey basket 7- drop the toy into the basket 8- drop the toy into the basket 9- drop the toy into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop the toy into the basket 2- done\n\u003c/PRED\u003e","video":"12335953274943804639.mp4"}
+{"uid":"5004841348885700964","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":"6533179052949983414.mp4"}
+{"uid":"15092548779489165748","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 chips into the basket. 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 9- 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 chips into the basket 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. 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 9- 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","video":"7830885214546329730.mp4"}
+{"uid":"2328461455391627792","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the toy into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the toy into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2929462688268937452.mp4"}
+{"uid":"13074510511557875437","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the strawberry 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":"2516097739999558912.mp4"}
+{"uid":"11153988635120252670","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntake out a wipe from the wipes packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1267186007835260655.mp4"}
+{"uid":"5419373391587962086","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp 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":"6968579093514947134.mp4"}
+{"uid":"58948157025652106","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the chair facing 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: please tuck all the chairs under the desks. last 20 steps: 1- Place the chair facing towards the table Q: immediate next step? \u003cPRED\u003eA: Place the chair facing towards the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck all the chairs under the desks. last 20 steps: 1- Place the chair facing towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the chair facing towards the table 2- Place the chair facing towards the table 3- Place the chair facing towards the table 4- Place the chair facing towards the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the chair facing 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: Place the chair facing towards the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the chair facing towards the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please tuck all the chairs under the desks Q: immediate next step? \u003cPRED\u003eA: Place the chair facing towards the table\n\u003c/PRED\u003e","video":"15376955006123202660.mp4"}
+{"uid":"15680708351480065880","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the chair facing towards the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the chair facing 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":"18075610063298846934.mp4"}
+{"uid":"13356636246861720550","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the bottle 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":"10702348215723269741.mp4"}
+{"uid":"678832979623590902","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck all the chairs under the desks. last 20 steps: 1- Place the chair facing towards the table 2- Place the chair facing towards the table 3- Place the chair facing towards the table 4- Place the chair facing towards the table 5- Place the chair facing towards the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the chair facing towards the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please tuck all the chairs under the desks Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck all the chairs under the desks. last 20 steps: 1- Place the chair facing towards the table 2- Place the chair facing towards the table 3- Place the chair facing towards the table 4- Place the chair facing towards the table 5- Place the chair facing towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the chair facing 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":"8792808987952795459.mp4"}
+{"uid":"9211532759086534168","text":"\u003ctask:success:discrete:False\u003e\nPlace the chair facing 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: Place the chair facing towards the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck all the chairs under the desks. last 20 steps: 1- Place the chair facing towards the table 2- Place the chair facing towards the table Q: immediate next step? \u003cPRED\u003eA: Place the chair facing towards the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please tuck all the chairs under the desks Q: immediate next step? \u003cPRED\u003eA: Place the chair facing towards the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the chair facing towards the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck all the chairs under the desks. last 20 steps: 1- Place the chair facing towards the table 2- Place the chair facing towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the chair facing towards the table 2- Place the chair facing towards the table 3- Place the chair facing towards the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the chair facing 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","video":"13665074723319032175.mp4"}
+{"uid":"4008617760495677790","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple 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":"14260156863986620370.mp4"}
+{"uid":"1497630170162543850","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the chair facing towards the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck all the chairs under the desks. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the chair facing towards the table 2- Place the chair facing towards the table 3- Place the chair facing towards the table 4- Place the chair facing towards the table 5- Place the chair facing towards the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the chair facing towards the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please tuck all the chairs under the desks Q: immediate next step? \u003cPRED\u003eA: Place the chair facing towards the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the chair facing 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: please tuck all the chairs under the desks. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the chair facing towards the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the chair facing 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":"1497186629550999239.mp4"}
+{"uid":"9934537198296255239","text":"\u003ctask:success:discrete:True\u003e\nPlace the chair facing 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: Place the chair facing towards the table\n\u003c/PRED\u003e","video":"8640673659956504119.mp4"}
+{"uid":"10874521382398037066","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on 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":"15433778500193382958.mp4"}
+{"uid":"6955066785815755014","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":"1134977480589033959.mp4"}
+{"uid":"8697241104120300013","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the chair facing towards the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the chair facing 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":"2436695745105341880.mp4"}
+{"uid":"17099617784729264640","text":"\u003ctask:success:discrete:True\u003e\nPlace the chair facing 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: Place the chair facing towards the table\n\u003c/PRED\u003e","video":"10164278824331131663.mp4"}
+{"uid":"9422186330138577011","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck all the chairs under the desks. last 20 steps: 1- Place the chair facing towards the table 2- Place the chair facing towards the table 3- Place the chair facing towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the chair facing towards the table 2- Place the chair facing towards the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the chair facing 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:success:discrete:False\u003e\nPlace the chair facing 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: Place the chair facing towards the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please tuck all the chairs under the desks Q: immediate next step? \u003cPRED\u003eA: Place the chair facing towards the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck all the chairs under the desks. last 20 steps: 1- Place the chair facing towards the table 2- Place the chair facing towards the table 3- Place the chair facing towards the table Q: immediate next step? \u003cPRED\u003eA: Place the chair facing towards the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the chair facing towards the table\n\u003c/PRED\u003e","video":"16066912575426823985.mp4"}
+{"uid":"201634644444132870","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the chair facing 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the chair facing towards the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck all the chairs under the desks. last 20 steps: 1- Place the chair facing towards the table 2- Place the chair facing towards the table 3- Place the chair facing towards the table 4- Place the chair facing towards the table Q: immediate next step? \u003cPRED\u003eA: Place the chair facing towards the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please tuck all the chairs under the desks Q: immediate next step? \u003cPRED\u003eA: Place the chair facing towards the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck all the chairs under the desks. last 20 steps: 1- Place the chair facing towards the table 2- Place the chair facing towards the table 3- Place the chair facing towards the table 4- Place the chair facing towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the chair facing towards the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the chair facing towards the table\n\u003c/PRED\u003e","video":"6847472999681029184.mp4"}
+{"uid":"15171067090406182824","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange in the large bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange in the large 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 large 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange in the large bowl 2- put the orange in the white bowl 3- put the orange in the white bowl 4- put the milano dark chocolate in the bowl 5- put the  rxbar blueberry 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange in the large bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange in the large bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange in the large bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13515842001517401180.mp4"}
+{"uid":"5919631920440881754","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"2097780579492711271.mp4"}
+{"uid":"8329307635298496072","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the rxbar chocolatein the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the rxbar chocolatein 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl 10- put the  rxbar blueberry in the bowl 11- put the oreo in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the rxbar chocolatein the bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl 10- put the  rxbar blueberry in the bowl 11- put the oreo in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the rxbar chocolatein the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: Place the rxbar chocolatein the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the rxbar chocolatein the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 rxbar chocolatein 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":"9404126879554252493.mp4"}
+{"uid":"3571204595706183360","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pink 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":"15374997000775882911.mp4"}
+{"uid":"17904400684037269320","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the rxbar chocolate inside the 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl 10- put the  rxbar blueberry in the bowl 11- put the oreo in the bowl 12- Place the rxbar chocolate inside the small bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl 10- put the  rxbar blueberry in the bowl 11- put the oreo in the bowl 12- Place the rxbar chocolate inside the small bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the rxbar chocolate inside the 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: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":"4027401840875921169.mp4"}
+{"uid":"7301023178268390588","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- put the bowl on the table 2- put the bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack the white bowl 2- put the orange in the white bowl 3- put the orange in the white bowl 4- put the orange in the white bowl 5- put the orange in the white 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- put the bowl on the table 2- put the bowl on the table Q: immediate next step? \u003cPRED\u003eA: Unstack the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack the white 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 white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nUnstack the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack 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":"1840996857420683901.mp4"}
+{"uid":"9929173582581502649","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":"12987056363390681982.mp4"}
+{"uid":"6458434240645222837","text":"\u003ctask:success:discrete:False\u003e\nPlace the blue packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: Place the blue packet 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl 10- put the  rxbar blueberry in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue packet in the bowl 2- put the rxbar chocolate in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl 10- put the  rxbar blueberry in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the blue packet in the bowl\n\u003c/PRED\u003e","video":"14878371370930149693.mp4"}
+{"uid":"5153974075960465816","text":"\u003ctask:success:discrete:True\u003e\nPlace the orange in the large 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 large bowl\n\u003c/PRED\u003e","video":"1294606203814668710.mp4"}
+{"uid":"11217586882179811073","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":"13998201908783030898.mp4"}
+{"uid":"12812011111244327223","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the paper 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":"17505023991890746891.mp4"}
+{"uid":"14858383178011227837","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the pens upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5872205473837097364.mp4"}
+{"uid":"13068196534114479865","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack 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: 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- put the bowl on the table Q: immediate next step? \u003cPRED\u003eA: Unstack the white 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 white 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- put the bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack the white bowl 2- put the bowl on the table 3- open the drawer of the table 4- put the orange in the white bowl 5- put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack the white bowl\n\u003c/PRED\u003e","video":"3661191044781264847.mp4"}
+{"uid":"766021187636369797","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut brown 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":"17494245948211294722.mp4"}
+{"uid":"3805044013987825486","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":"12556961707058532156.mp4"}
+{"uid":"9774390188911410218","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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the white 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the white bowl 2- put the orange in the white bowl 3- put the orange in the white bowl 4- put the milano dark chocolate in the bowl 5- put the  rxbar blueberry 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 white 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 white bowl\n\u003c/PRED\u003e","video":"6675689679439420633.mp4"}
+{"uid":"7753844156088348671","text":"\u003ctask:success:discrete:True\u003e\nPlace the Milano chocolate inside the 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: Place the Milano chocolate inside the small bowl\n\u003c/PRED\u003e","video":"9662484863031884677.mp4"}
+{"uid":"7465252686525816181","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":"11270759319551921160.mp4"}
+{"uid":"5477470153156735006","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Open drawer 2- put the orange in the white bowl 3- put the orange in the white bowl 4- put the orange in the white bowl 5- put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table Q: immediate next step? \u003cPRED\u003eA: Open 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 drawer\n\u003c/PRED\u003e","video":"8791335207124943499.mp4"}
+{"uid":"10609414721720625177","text":"\u003ctask:success:discrete:False\u003e\nput the orange in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the white 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the white bowl 2- put the orange in the white bowl 3- put the orange in the white bowl 4- put the orange in the white bowl 5- put the milano dark 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 white 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table Q: immediate next step? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the drawer of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the drawer 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":"17422058537387450603.mp4"}
+{"uid":"9479134456966310019","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"7178754974891816375.mp4"}
+{"uid":"15450088886836012983","text":"\u003ctask:success:discrete:True\u003e\nPlace the rxbar blueberry inside the 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: Place the rxbar blueberry inside the small bowl\n\u003c/PRED\u003e","video":"4682537546355259116.mp4"}
+{"uid":"3018065466597435405","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":"2834062021243540038.mp4"}
+{"uid":"11036619959434369265","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop candy in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1056853051691898802.mp4"}
+{"uid":"10281892602252202858","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":"11341911776151919303.mp4"}
+{"uid":"5134989289239565414","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11860686604467494380.mp4"}
+{"uid":"7360255463805660606","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the sticky notes in the black storage box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1967017756783180685.mp4"}
+{"uid":"1357227546092124782","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cup on top Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7709536384346483354.mp4"}
+{"uid":"8382041146513015958","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an orange inside the big white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an orange inside the big 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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: Place an orange inside the big white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an orange inside the big white 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an orange inside the big white bowl 2- put the orange in the white bowl 3- put the milano dark chocolate in the bowl 4- put the  rxbar blueberry in the bowl 5- put the oreo 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: Place an orange inside the big white bowl\n\u003c/PRED\u003e","video":"16965502274685055597.mp4"}
+{"uid":"18038646935716755309","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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl 10- put the  rxbar blueberry in the bowl 11- put the oreo in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the rxbar chocolate inside the small bowl 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the rxbar chocolate inside the 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl 10- put the  rxbar blueberry in the bowl 11- put the oreo in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the rxbar chocolate inside the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the rxbar chocolate inside the 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: Place the rxbar chocolate inside the small bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the rxbar chocolate inside the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the rxbar chocolate inside the small bowl\n\u003c/PRED\u003e","video":"623283160047604745.mp4"}
+{"uid":"9425482257922102265","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the mouse 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":"7658043846670148653.mp4"}
+{"uid":"5088441584620671501","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the white 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the white 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 white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the white bowl 2- put the orange in the white bowl 3- put the milano dark chocolate in the bowl 4- put the  rxbar blueberry in the bowl 5- put the oreo 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 white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e","video":"18243866899568464376.mp4"}
+{"uid":"13798128919366195960","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"15449371030088315430.mp4"}
+{"uid":"8248799650854916800","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the drawer 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: 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table Q: immediate next step? \u003cPRED\u003eA: open the drawer of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: open the drawer of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer of the table 2- put the orange in the white bowl 3- put the orange in the white bowl 4- put the orange in the white bowl 5- put the orange in the white bowl\n\u003c/PRED\u003e","video":"9403912183225323473.mp4"}
+{"uid":"18193847115181644824","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an orange inside the big white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace an orange inside the big 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: Place an orange inside the big white 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: Place an orange inside the big white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an orange inside the big white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: Place an orange inside the big white 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an orange inside the big white bowl 2- put the  rxbar blueberry in the bowl 3- put the oreo in the bowl 4- put the rxbar chocolate in the bowl 5- done\n\u003c/PRED\u003e","video":"9204708794035447010.mp4"}
+{"uid":"3597495298299951624","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange 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":"15664456585195204504.mp4"}
+{"uid":"11926473990466729325","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place an orange inside the big white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace an orange inside the big white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16125476762132485606.mp4"}
+{"uid":"10919828632522130163","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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\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: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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange in the bowl 2- put the milano dark chocolate in the bowl 3- put the  rxbar blueberry in the bowl 4- put the oreo in the bowl 5- put the rxbar 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: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e","video":"2664132769792302375.mp4"}
+{"uid":"12944398602738652532","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nturn 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":"3055050233841615242.mp4"}
+{"uid":"4774497326495920260","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":"9736654973871918170.mp4"}
+{"uid":"1719770438768406718","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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white 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: put the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the bowl on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bowl on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"221719696842203294.mp4"}
+{"uid":"11075235520883650347","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the highlighter in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14302636392055084316.mp4"}
+{"uid":"18006396608498712941","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pepsi in the refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9158124826518780453.mp4"}
+{"uid":"17433919961555367911","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- put the bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the bowl on the table 2- put the bowl on the table 3- open the drawer of the table 4- put the orange in the white bowl 5- put the orange in the white 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- put the bowl on the table Q: immediate next step? \u003cPRED\u003eA: put the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the bowl on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the bowl on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bowl on the table\n\u003c/PRED\u003e","video":"11605357513404969227.mp4"}
+{"uid":"3428269754543396867","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"356767701938408450.mp4"}
+{"uid":"6628636315485279781","text":"\u003ctask:success:discrete:True\u003e\nput the rxbar 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: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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl 10- put the  rxbar blueberry in the bowl 11- put the oreo in the bowl 12- put the rxbar 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 rxbar 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: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl 10- put the  rxbar blueberry in the bowl 11- put the oreo in the bowl 12- put the rxbar chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"15040259500350303247.mp4"}
+{"uid":"4067703306370663765","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the bowl on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5374881388974782309.mp4"}
+{"uid":"9914764605048424073","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack 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":"9607803106841313649.mp4"}
+{"uid":"11384321994622968041","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place an orange inside the big white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace an orange inside the big white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1686170917337261829.mp4"}
+{"uid":"8715491791192350420","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":"5157905795205930687.mp4"}
+{"uid":"13027769162605483277","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 milano dark chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the milano dark chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the milano dark chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the milano dark chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the milano dark chocolate in the bowl 2- put the  rxbar blueberry in the bowl 3- put the oreo in the bowl 4- put the rxbar chocolate in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the milano dark 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the white 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the milano dark chocolate in the bowl\n\u003c/PRED\u003e","video":"14218963432460142244.mp4"}
+{"uid":"256827489332963028","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  rxbar blueberry in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the milano dark 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  rxbar blueberry 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the  rxbar blueberry in the bowl 2- put the oreo in the bowl 3- put the rxbar chocolate in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the milano dark chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the  rxbar blueberry 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: put the  rxbar blueberry in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the  rxbar blueberry in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the  rxbar blueberry 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":"411243821565445422.mp4"}
+{"uid":"5364421370975236183","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place an orange inside the big white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace an orange inside the big white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11531679614275385323.mp4"}
+{"uid":"3630369946602409491","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntake out a bowl from stack 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":"13850056397828548905.mp4"}
+{"uid":"16970387368295487268","text":"\u003ctask:success:discrete:False\u003e\nPlace the Milano chocolate inside the 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: Place the Milano chocolate inside the small bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the Milano chocolate inside the 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the Milano chocolate inside the small bowl 2- put the oreo in the bowl 3- put the rxbar chocolate in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the Milano chocolate inside the 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: Place the Milano chocolate inside the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the Milano chocolate inside the 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","video":"3768485580203105912.mp4"}
+{"uid":"12785190636248912524","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":"15223400046286493704.mp4"}
+{"uid":"97822330577754736","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust 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":"3095830025992112047.mp4"}
+{"uid":"4954927282976337381","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the milano dark chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the milano dark 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: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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: Place the milano dark 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the milano dark chocolate in the bowl 2- put the  rxbar blueberry in the bowl 3- put the oreo in the bowl 4- put the rxbar chocolate in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the milano dark chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the milano dark chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: Place the milano dark chocolate in the bowl\n\u003c/PRED\u003e","video":"7771686084690183302.mp4"}
+{"uid":"3984640571187586989","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack a bowl from 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 a bowl from 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- put the bowl on the table 2- put the bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack a bowl from the bowl 2- put the orange in the white bowl 3- put the orange in the white bowl 4- put the orange in the white bowl 5- put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack a bowl from the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nUnstack a bowl from the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack a bowl from 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- put the bowl on the table 2- put the bowl on the table Q: immediate next step? \u003cPRED\u003eA: Unstack a bowl from the bowl\n\u003c/PRED\u003e","video":"15617289204532210141.mp4"}
+{"uid":"13831416950144094060","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the blue packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4218281238805634348.mp4"}
+{"uid":"17608276233473400472","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: Place an orange inside the big white 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table Q: immediate next step? \u003cPRED\u003eA: Place an orange inside the big white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace an orange inside the big 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: Place an orange inside the big white 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place an orange inside the big white bowl 2- put the orange in the white bowl 3- put the orange in the white bowl 4- put the milano dark chocolate in the bowl 5- put the  rxbar blueberry in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an orange inside the big white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an orange inside the big white bowl\n\u003c/PRED\u003e","video":"49417369623565037.mp4"}
+{"uid":"3768149393097718585","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the rxbar blueberry inside the 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: Place the rxbar blueberry inside the 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the rxbar blueberry inside the small bowl 2- put the rxbar chocolate in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the rxbar blueberry inside the 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the rxbar blueberry inside the small bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the rxbar blueberry inside the 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the rxbar blueberry inside the small bowl\n\u003c/PRED\u003e","video":"10154089540308251235.mp4"}
+{"uid":"11740989447047849956","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange in the large 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 large bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange in the large bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange in the large bowl 2- put the orange in the white bowl 3- put the orange in the white bowl 4- put the milano dark chocolate in the bowl 5- put the  rxbar blueberry 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table Q: immediate next step? \u003cPRED\u003eA: Place the orange in the large bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange in the large bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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: Place the orange in the large bowl\n\u003c/PRED\u003e","video":"8748659638660121406.mp4"}
+{"uid":"12545355577666077811","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the white candy 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":"10347874016428957179.mp4"}
+{"uid":"16167144899527193588","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":"14814284126344527787.mp4"}
+{"uid":"3945420408177399478","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":"16684693437402617705.mp4"}
+{"uid":"9136088013800591156","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: Open the cardboard drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the cardboard drawer\n\u003c/PRED\u003e\u003ctask: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:success:discrete:False\u003e\nOpen the cardboard drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table Q: immediate next step? \u003cPRED\u003eA: Open the cardboard 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Open the cardboard drawer 2- put the orange in the white bowl 3- put the orange in the white bowl 4- put the orange in the white bowl 5- put the orange in the white bowl\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","video":"16922660683794801021.mp4"}
+{"uid":"18161101821557010367","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the rxbar blueberry in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the rxbar blueberry in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the rxbar blueberry in the bowl 2- put the oreo in the bowl 3- put the rxbar 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: Place the rxbar blueberry 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the rxbar blueberry in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the rxbar blueberry 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 rxbar blueberry in the bowl\n\u003c/PRED\u003e","video":"15813332181830697175.mp4"}
+{"uid":"3801472946651222273","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue packet candy inside the small bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the blue packet candy inside the 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: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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl 10- put the  rxbar blueberry in the bowl 11- Place the blue packet candy inside the small bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl. last 20 steps: 1- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl 10- put the  rxbar blueberry in the bowl 11- Place the blue packet candy inside the small bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11925308005678232681.mp4"}
+{"uid":"5067424229195276970","text":"\u003ctask:success:discrete:True\u003e\nOpen the cardboard drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the cardboard drawer\n\u003c/PRED\u003e","video":"5733985727869290549.mp4"}
+{"uid":"9626280185385102028","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 white bowl 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white 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 white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack 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: Unstack the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nUnstack 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: 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 white bowl\n\u003c/PRED\u003e","video":"9911194036074898280.mp4"}
+{"uid":"9462991075498230532","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":"6168704714605523395.mp4"}
+{"uid":"17036544712630782710","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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an orange inside the big white bowl 2- put the orange in the white bowl 3- put the milano dark chocolate in the bowl 4- put the  rxbar blueberry in the bowl 5- put the oreo 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: Place an orange inside the big white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an orange inside the big white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an orange inside the big white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an orange inside the big 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: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: Place an orange inside the big white bowl\n\u003c/PRED\u003e","video":"9692654677441046197.mp4"}
+{"uid":"11771010411776210372","text":"\u003ctask:success:discrete:False\u003e\nput the rxbar 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 rxbar chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the rxbar 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl 10- put the  rxbar blueberry in the bowl 11- put the oreo in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the rxbar chocolate in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the oreo 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl 10- put the  rxbar blueberry in the bowl 11- put the oreo in the bowl Q: immediate next step? \u003cPRED\u003eA: put the rxbar chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the rxbar chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the oreo 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: put the rxbar chocolate in the bowl\n\u003c/PRED\u003e","video":"18006980686870372637.mp4"}
+{"uid":"3156591740654173303","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the milano dark chocolate in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the milano dark 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","video":"10045413637431399494.mp4"}
+{"uid":"15474971141223591365","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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl 10- put the  rxbar blueberry in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue packet candy inside the small bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue packet candy inside the 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: Place the blue packet candy inside the small bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue packet candy inside the 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl 10- put the  rxbar blueberry in the bowl Q: immediate next step? \u003cPRED\u003eA: Place the blue packet candy inside the 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: Place the blue packet candy inside the small bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue packet candy inside the small bowl\n\u003c/PRED\u003e","video":"10251418390673340037.mp4"}
+{"uid":"2025589541656553834","text":"\u003ctask:success:discrete:True\u003e\nPlace an orange inside the big white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place an orange inside the big white bowl\n\u003c/PRED\u003e","video":"13286242060718182217.mp4"}
+{"uid":"9037593106112830853","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack a bowl from the stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack a bowl from the stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nUnstack a bowl 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: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 a bowl from the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack a bowl 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: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 a bowl from the stack 2- put the bowl on the table 3- open the drawer of the table 4- put the orange in the white bowl 5- put the orange in the white 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 a bowl from the stack\n\u003c/PRED\u003e","video":"10654855872537139412.mp4"}
+{"uid":"4279363813546479513","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2357969019234944265.mp4"}
+{"uid":"11644392380061555608","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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the white bowl 2- put the milano dark chocolate in the bowl 3- put the  rxbar blueberry in the bowl 4- put the oreo in the bowl 5- put the rxbar chocolate 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 white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: 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 white 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13360075820997009338.mp4"}
+{"uid":"17715390743308266087","text":"\u003ctask:success:discrete:True\u003e\nput the  rxbar blueberry 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: put the oreo in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the oreo 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl 10- put the  rxbar blueberry in the bowl Q: immediate next step? \u003cPRED\u003eA: put the oreo in the bowl\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  rxbar blueberry in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the oreo 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 oreo 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl 10- put the  rxbar blueberry in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the oreo in the bowl 2- put the rxbar chocolate in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the oreo 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":"8728322369569923674.mp4"}
+{"uid":"3145289895995868618","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":"3861260444830160264.mp4"}
+{"uid":"8283075853985032127","text":"\u003ctask:success:discrete:False\u003e\nUnstack 2 bowls 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: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 2 bowls from the stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nUnstack 2 bowls 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: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- put the bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Unstack 2 bowls from the stack 2- put the bowl on the table 3- open the drawer of the table 4- put the orange in the white bowl 5- put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Unstack 2 bowls from the stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Unstack 2 bowls from the stack\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- put the bowl on the table Q: immediate next step? \u003cPRED\u003eA: Unstack 2 bowls from the stack\n\u003c/PRED\u003e","video":"15303171452907837127.mp4"}
+{"uid":"9775300194581879754","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- put the bowl on the table 2- put the bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the bowl on the table 2- open the drawer of the table 3- put the orange in the white bowl 4- put the orange in the white bowl 5- put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bowl on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: put the bowl on the table\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- put the bowl on the table 2- put the bowl on the table Q: immediate next step? \u003cPRED\u003eA: put the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the bowl on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11563253230509958926.mp4"}
+{"uid":"4806289938215016296","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":"12676822473417039299.mp4"}
+{"uid":"9586740247802580090","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9448121220775579369.mp4"}
+{"uid":"13568654218912159867","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: Place the orange in the large 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 large 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange in the large bowl 2- put the orange in the white bowl 3- put the milano dark chocolate in the bowl 4- put the  rxbar blueberry in the bowl 5- put the oreo 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: Place the orange in the large bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange in the large bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange in the large bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1753219999001108808.mp4"}
+{"uid":"9343186090029146250","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":"9575260454285007497.mp4"}
+{"uid":"17739348264927095525","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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl 10- put the  rxbar blueberry in the bowl 11- put the oreo in the bowl 12- Place the rxbar chocolatein the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the rxbar chocolatein 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 rxbar chocolatein 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- put the bowl on the table 2- put the bowl on the table 3- put the bowl on the table 4- open the drawer of the table 5- put the orange in the white bowl 6- put the orange in the white bowl 7- put the orange in the white bowl 8- put the orange in the white bowl 9- put the milano dark chocolate in the bowl 10- put the  rxbar blueberry in the bowl 11- put the oreo in the bowl 12- Place the rxbar chocolatein the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the small bowls. then take the snacks and fruit out of the top drawer, and put the snacks in the small bowl and the fruit in to large bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3796584794550010151.mp4"}
+{"uid":"2291701830476913502","text":"\u003ctask:success:discrete:False\u003e\nPlace the lid on the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the lid on the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table 8- Move the stand to the center of the table 9- Place the paper cup to the left side of the jar 10- Pick up the scooper 11- Place the cheese puffs in the cup 12- Place the cheese puffs in the cup 13- Place the cheese puffs in the cup 14- Place the scooper in the stand Q: immediate next step? \u003cPRED\u003eA: Place the lid on the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table 8- Move the stand to the center of the table 9- Place the paper cup to the left side of the jar 10- Pick up the scooper 11- Place the cheese puffs in the cup 12- Place the cheese puffs in the cup 13- Place the cheese puffs in the cup 14- Place the scooper in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the lid on the jar 2- Pick up the paper cup 3- Exit the room 4- Exit the office 5- Place the paper cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Place the lid on the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the lid on the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace 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","video":"16069714478087773344.mp4"}
+{"uid":"7188318782576377086","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the green 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":"10675373930254647286.mp4"}
+{"uid":"10131681081638465397","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow sugar candy in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4620319357657302983.mp4"}
+{"uid":"5568186856521706021","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nHang up the carry bag in 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":"17598973182401027190.mp4"}
+{"uid":"2120767486208538612","text":"\u003ctask:success:discrete:False\u003e\nPlace the scooper 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: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table 8- Move the stand to the center of the table 9- Place the paper cup to the left side of the jar 10- Pick up the scooper 11- Place the cheese puffs in the cup 12- Place the cheese puffs in the cup 13- Place the cheese puffs in the cup Q: immediate next step? \u003cPRED\u003eA: Place the scooper in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table 8- Move the stand to the center of the table 9- Place the paper cup to the left side of the jar 10- Pick up the scooper 11- Place the cheese puffs in the cup 12- Place the cheese puffs in the cup 13- Place the cheese puffs in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the scooper in the stand 2- Place the lid on the jar 3- Pick up the paper cup 4- Exit the room 5- Exit the office\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the scooper 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 throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Place the scooper in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the scooper in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the scooper in the stand\n\u003c/PRED\u003e","video":"581841775107209280.mp4"}
+{"uid":"3722628133021369822","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":"17373086434645962987.mp4"}
+{"uid":"12742918166325847525","text":"\u003ctask:success:discrete:False\u003e\nDrop the paper cup in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the paper cup in the trash Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the paper cup in the trash\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Drop the paper cup in the trash\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the paper cup in the trash 2- Place the cup on the kitchen floor 3- Place the spoon in the cup 4- Place the cup on the table 5- Place the lid on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the paper cup in the trash\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room Q: immediate next step? \u003cPRED\u003eA: Drop the paper cup in the trash\n\u003c/PRED\u003e","video":"15118572824192140779.mp4"}
+{"uid":"14277432029139670856","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":"17804771556150298149.mp4"}
+{"uid":"16688396479104135900","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":"5031823849164091606.mp4"}
+{"uid":"3593768204008321774","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the paper cup in the trash\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the paper cup in the trash Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12371173972090445808.mp4"}
+{"uid":"8672660630850203638","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards 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":"3367192038181877520.mp4"}
+{"uid":"15872039567215454205","text":"\u003ctask:success:discrete:False\u003e\nPlace the cup on the kitchen floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup on the kitchen floor 2- Place the spoon in the cup 3- Place the cup on the table 4- Place the lid on the table 5- Move the stand to the center of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup on the kitchen floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cup on the kitchen floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Place the cup on the kitchen floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash Q: immediate next step? \u003cPRED\u003eA: Place the cup on the kitchen floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cup on the kitchen 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":"11371810430944884193.mp4"}
+{"uid":"10717482529719841975","text":"\u003ctask:success:discrete:True\u003e\nMove the stand to the center of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the stand to the center of the table\n\u003c/PRED\u003e","video":"13756734857586506900.mp4"}
+{"uid":"4219916249437842916","text":"\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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the lid on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 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: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the lid on the table 2- Move the stand to the center of the table 3- Place the paper cup to the left side of the jar 4- Pick up the scooper 5- Place the cheese puffs in the cup\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: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Place the lid on the table\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":"10351864449489861092.mp4"}
+{"uid":"7182462334960459823","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":"2305517204827490959.mp4"}
+{"uid":"4194041288699958999","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm close to the coconut tetra pack 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":"8596680956743567399.mp4"}
+{"uid":"13052128317061319952","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards 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":"16385382231107191496.mp4"}
+{"uid":"8399684439725957016","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cheese puffs in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the cheese puffs 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":"2252729100377691878.mp4"}
+{"uid":"15328292041340975030","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Exit the office\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nExit the office Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2653054062142489349.mp4"}
+{"uid":"10035767890704615576","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the wipes pack 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":"17267523092957848997.mp4"}
+{"uid":"8543493780305003758","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink 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":"15809274897497843238.mp4"}
+{"uid":"11632340820256366384","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":"15523475500667143263.mp4"}
+{"uid":"5866504794743938636","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the cheese puffs in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the cheese puffs 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":"8377030234912896624.mp4"}
+{"uid":"2136256296995238470","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- Drop the paper cup in the trash 3- Place the cup on the kitchen floor 4- Place the spoon in the cup 5- Place the cup on the table\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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 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: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: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e","video":"10124364935130914311.mp4"}
+{"uid":"11770127200079045973","text":"\u003ctask:success:discrete:False\u003e\nPlace the paper 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: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table 8- Move the stand to the center of the table 9- Place the paper cup to the left side of the jar 10- Pick up the scooper 11- Place the cheese puffs in the cup 12- Place the cheese puffs in the cup 13- Place the cheese puffs in the cup 14- Place the scooper in the stand 15- Place the lid on the jar 16- Pick up the paper cup 17- Exit the room 18- Exit the office Q: immediate next step? \u003cPRED\u003eA: Place the paper cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the paper 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: Place the paper cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table 8- Move the stand to the center of the table 9- Place the paper cup to the left side of the jar 10- Pick up the scooper 11- Place the cheese puffs in the cup 12- Place the cheese puffs in the cup 13- Place the cheese puffs in the cup 14- Place the scooper in the stand 15- Place the lid on the jar 16- Pick up the paper cup 17- Exit the room 18- Exit the office Q: next 5 steps? \u003cPRED\u003eA: 1- Place the paper cup 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 paper cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Place the paper cup on the table\n\u003c/PRED\u003e","video":"2818532332040168627.mp4"}
+{"uid":"14968533033872399893","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Move the stand to the center of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the stand 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the stand 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 stand to the center of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move the stand to the center of the table 2- Place the paper cup to the left side of the jar 3- Pick up the scooper 4- Place the cheese puffs in the cup 5- Place the cheese puffs in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the stand 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: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table Q: immediate next step? \u003cPRED\u003eA: Move the stand to the center of the table\n\u003c/PRED\u003e","video":"802557572668321809.mp4"}
+{"uid":"15970034432529542326","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor Q: next 5 steps? \u003cPRED\u003eA: 1- Place the spoon in the cup 2- Place the cup on the table 3- Place the lid on the table 4- Move the stand to the center of the table 5- Place the paper cup to the left side of the jar\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: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor Q: immediate next step? \u003cPRED\u003eA: Place the spoon in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Place the spoon in the cup\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: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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the spoon in the cup\n\u003c/PRED\u003e","video":"13707039439811444482.mp4"}
+{"uid":"16827173806825752256","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cheese puffs in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table 8- Move the stand to the center of the table 9- Place the paper cup to the left side of the jar 10- Pick up the scooper Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cheese puffs in the cup 2- Place the cheese puffs in the cup 3- Place the cheese puffs in the cup 4- Place the scooper in the stand 5- Place the lid on the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the cheese puffs in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cheese puffs in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table 8- Move the stand to the center of the table 9- Place the paper cup to the left side of the jar 10- Pick up the scooper Q: immediate next step? \u003cPRED\u003eA: Place the cheese puffs in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Place the cheese puffs in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cheese puffs in the cup\n\u003c/PRED\u003e","video":"10079122573579287435.mp4"}
+{"uid":"2073565346070050186","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":"13291850020372532549.mp4"}
+{"uid":"3482716049693957065","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the paper cup\n\u003c/PRED\u003e\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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table 8- Move the stand to the center of the table 9- Place the paper cup to the left side of the jar 10- Pick up the scooper 11- Place the cheese puffs in the cup 12- Place the cheese puffs in the cup 13- Place the cheese puffs in the cup 14- Place the scooper in the stand 15- Place the lid on the jar Q: immediate next step? \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:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Pick up the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table 8- Move the stand to the center of the table 9- Place the paper cup to the left side of the jar 10- Pick up the scooper 11- Place the cheese puffs in the cup 12- Place the cheese puffs in the cup 13- Place the cheese puffs in the cup 14- Place the scooper in the stand 15- Place the lid on the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the paper cup 2- Exit the room 3- Exit the office 4- Place the paper cup on the table 5- done\n\u003c/PRED\u003e","video":"13336961751048056338.mp4"}
+{"uid":"12194027621132705274","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table 8- Move the stand to the center of the table 9- Place the paper cup to the left side of the jar 10- Pick up the scooper 11- Place the cheese puffs in the cup 12- Place the cheese puffs in the cup 13- Place the cheese puffs in the cup 14- Place the scooper in the stand 15- Place the lid on the jar 16- Pick up the paper cup 17- Exit the room 18- Exit the office 19- Place the paper cup 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 paper cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table 8- Move the stand to the center of the table 9- Place the paper cup to the left side of the jar 10- Pick up the scooper 11- Place the cheese puffs in the cup 12- Place the cheese puffs in the cup 13- Place the cheese puffs in the cup 14- Place the scooper in the stand 15- Place the lid on the jar 16- Pick up the paper cup 17- Exit the room 18- Exit the office 19- Place the paper cup on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the paper 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":"10260357063579288746.mp4"}
+{"uid":"6595114931430627695","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nExit the office Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Exit the office\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Exit the office\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nExit the office Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 office\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table 8- Move the stand to the center of the table 9- Place the paper cup to the left side of the jar 10- Pick up the scooper 11- Place the cheese puffs in the cup 12- Place the cheese puffs in the cup 13- Place the cheese puffs in the cup 14- Place the scooper in the stand 15- Place the lid on the jar 16- Pick up the paper cup 17- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the office 2- Place the paper cup on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table 8- Move the stand to the center of the table 9- Place the paper cup to the left side of the jar 10- Pick up the scooper 11- Place the cheese puffs in the cup 12- Place the cheese puffs in the cup 13- Place the cheese puffs in the cup 14- Place the scooper in the stand 15- Place the lid on the jar 16- Pick up the paper cup 17- Exit the room Q: immediate next step? \u003cPRED\u003eA: Exit the office\n\u003c/PRED\u003e","video":"7820789239061421052.mp4"}
+{"uid":"14279171247425927005","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cheese puffs in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cheese puffs in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table 8- Move the stand to the center of the table 9- Place the paper cup to the left side of the jar 10- Pick up the scooper 11- Place the cheese puffs in the cup Q: immediate next step? \u003cPRED\u003eA: Place the cheese puffs in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Place the cheese puffs in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cheese puffs in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table 8- Move the stand to the center of the table 9- Place the paper cup to the left side of the jar 10- Pick up the scooper 11- Place the cheese puffs in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cheese puffs in the cup 2- Place the cheese puffs in the cup 3- Place the scooper in the stand 4- Place the lid on the jar 5- Pick up the paper cup\n\u003c/PRED\u003e","video":"8734715930545140662.mp4"}
+{"uid":"10654275925495186420","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: none 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\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the 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:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Pick up the paper cup\n\u003c/PRED\u003e","video":"3464083924543831461.mp4"}
+{"uid":"3277736237815457042","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput animal toy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5296813133616425764.mp4"}
+{"uid":"9568256058500742972","text":"\u003ctask:success:discrete:True\u003e\nPick up the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the paper cup\n\u003c/PRED\u003e","video":"12548067268691907117.mp4"}
+{"uid":"4547243534628333879","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a bunch of cups from the stack inside 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":"2278230418612773010.mp4"}
+{"uid":"7307548944635607603","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":"18187127021896707778.mp4"}
+{"uid":"17401682111014182194","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput another toffee 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":"4732989141777496566.mp4"}
+{"uid":"16284613823845719285","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the scooper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the scooper\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Pick up the scooper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the scooper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table 8- Move the stand to the center of the table 9- Place the paper cup to the left side of the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the scooper 2- Place the cheese puffs in the cup 3- Place the cheese puffs in the cup 4- Place the cheese puffs in the cup 5- Place the scooper in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table 8- Move the stand to the center of the table 9- Place the paper cup to the left side of the jar Q: immediate next step? \u003cPRED\u003eA: Pick up the scooper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the scooper Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8261549146249578229.mp4"}
+{"uid":"13498884201379265193","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table 8- Move the stand to the center of the table Q: immediate next step? \u003cPRED\u003eA: Place the paper cup to the left side of the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the paper cup to the left side of the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the paper cup to the left side of the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table 8- Move the stand to the center of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the paper cup to the left side of the jar 2- Pick up the scooper 3- Place the cheese puffs in the cup 4- Place the cheese puffs in the cup 5- Place the cheese puffs in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Place the paper cup to the left side of the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the paper cup to the left side of the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the paper cup to the left side of the jar\n\u003c/PRED\u003e","video":"2496076076071282794.mp4"}
+{"uid":"16494062751850038506","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":"1902635402391213657.mp4"}
+{"uid":"5912951866592700038","text":"\u003ctask:success:discrete:True\u003e\nPlace the cup on the kitchen 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: Place the cup on the kitchen floor\n\u003c/PRED\u003e","video":"2492994577967623118.mp4"}
+{"uid":"11891510548329637476","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown 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":"7283625195535039306.mp4"}
+{"uid":"10662259050530175140","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cup on the table 2- Place the lid on the table 3- Move the stand to the center of the table 4- Place the paper cup to the left side of the jar 5- Pick up the scooper\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 throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Place the cup on the table\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 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","video":"15439344139907247123.mp4"}
+{"uid":"17336821023918026663","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the cheese puffs 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: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: Place the cheese puffs in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table 8- Move the stand to the center of the table 9- Place the paper cup to the left side of the jar 10- Pick up the scooper 11- Place the cheese puffs in the cup 12- Place the cheese puffs in the cup Q: immediate next step? \u003cPRED\u003eA: Place the cheese puffs in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the cheese puffs in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table 8- Move the stand to the center of the table 9- Place the paper cup to the left side of the jar 10- Pick up the scooper 11- Place the cheese puffs in the cup 12- Place the cheese puffs in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the cheese puffs in the cup 2- Place the scooper in the stand 3- Place the lid on the jar 4- Pick up the paper cup 5- Exit the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the cheese puffs in the cup\n\u003c/PRED\u003e","video":"2055489002981739325.mp4"}
+{"uid":"602849507310336131","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the spoon in the cup\n\u003c/PRED\u003e\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","video":"7086773089393045369.mp4"}
+{"uid":"11662788755056124918","text":"\u003ctask:success:discrete:False\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips 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: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table 8- Move the stand to the center of the table 9- Place the paper cup to the left side of the jar 10- Pick up the scooper 11- Place the cheese puffs in the cup 12- Place the cheese puffs in the cup 13- Place the cheese puffs in the cup 14- Place the scooper in the stand 15- Place the lid on the jar 16- Pick up the paper cup Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw trash from my desk can get me a popcorn chips from Mk Kitchen to my desk. last 20 steps: 1- Pick up the paper cup 2- Exit the room 3- Drop the paper cup in the trash 4- Place the cup on the kitchen floor 5- Place the spoon in the cup 6- Place the cup on the table 7- Place the lid on the table 8- Move the stand to the center of the table 9- Place the paper cup to the left side of the jar 10- Pick up the scooper 11- Place the cheese puffs in the cup 12- Place the cheese puffs in the cup 13- Place the cheese puffs in the cup 14- Place the scooper in the stand 15- Place the lid on the jar 16- Pick up the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- Exit the office 3- Place the paper cup on the table 4- 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\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":"7804407196902896842.mp4"}
+{"uid":"8529568744702063390","text":"\u003ctask:success:discrete:True\u003e\nPlace the cheese puffs 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 cheese puffs in the cup\n\u003c/PRED\u003e","video":"161081275480387231.mp4"}
+{"uid":"4278368810249321010","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep knife in middle glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10618331772691135462.mp4"}
+{"uid":"5406215294112561433","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace teh 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":"2768494231940726145.mp4"}
+{"uid":"6217776847982488106","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the paper 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":"15275461328188930691.mp4"}
+{"uid":"10877075716584466216","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object Q: next 5 steps? \u003cPRED\u003eA: 1- Place the strainer into the coffee machine 2- move to the lid of the coffee machine 3- close the coffee machine lid 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the strainer into the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the strainer into the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the strainer into the coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Place the strainer into the coffee machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object Q: immediate next step? \u003cPRED\u003eA: Place the strainer into the coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the strainer into the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8930681334630268913.mp4"}
+{"uid":"2004516121430269269","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the coffee dispenser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Move close to the coffee dispenser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the coffee dispenser 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move close to the coffee dispenser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove close to the coffee dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to the coffee dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the coffee dispenser\n\u003c/PRED\u003e","video":"6266807551128488183.mp4"}
+{"uid":"16235936229266784962","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove closer to the coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object Q: next 5 steps? \u003cPRED\u003eA: 1- move closer to the coffee machine 2- Move away from the coffee machine 3- move to the lid of the coffee machine 4- close the coffee machine lid 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move closer to the coffee machine\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: move closer to the coffee machine\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move closer to the coffee machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object Q: immediate next step? \u003cPRED\u003eA: move closer to the coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove closer to the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10349585363631036637.mp4"}
+{"uid":"11575864094104241526","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the paper cup on the coffee dispenser\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the paper cup on the coffee dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16572882589147291327.mp4"}
+{"uid":"11482754460693684077","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ngrasp the brown paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grasp the brown paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grasp the brown paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup Q: immediate next step? \u003cPRED\u003eA: grasp the brown paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrasp the brown 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:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: grasp the brown paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- grasp the brown paper cup 2- pick up the brown paper cup 3- Place the paper cup on the coffee dispenser 4- move away from the table 5- hold the silver object\n\u003c/PRED\u003e","video":"3130037358233228123.mp4"}
+{"uid":"776445006888649158","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep packet in shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2429915649147925154.mp4"}
+{"uid":"18072007132237243225","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":"9038148381923087826.mp4"}
+{"uid":"2607559568979171208","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pen in 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":"7540404013745993729.mp4"}
+{"uid":"4644322464205522221","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace snacks packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2585029684889291400.mp4"}
+{"uid":"11507068033031496945","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the paper 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 paper cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup Q: immediate next step? \u003cPRED\u003eA: place the paper cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the paper cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the paper cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: place the paper cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the paper cup on the table 2- move away from the table 3- hold the silver object 4- pick up the silver object 5- move closer to the coffee machine\n\u003c/PRED\u003e","video":"4483281891467342962.mp4"}
+{"uid":"15558892083534494188","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Touch the coffee dispenser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTouch the coffee dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine Q: immediate next step? \u003cPRED\u003eA: Touch the coffee dispenser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Touch the coffee dispenser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- Touch the coffee dispenser 2- move away from the coffee machine 3- Move to the paper cup on the table 4- grab the paper cup 5- Move away from the brown paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Touch the coffee dispenser\n\u003c/PRED\u003e","video":"3356010587601109208.mp4"}
+{"uid":"12409719855207468010","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":"8949017085870230542.mp4"}
+{"uid":"13419731531114947610","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the strainer in the coffee dispenser\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the strainer in the coffee dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4219788443890539233.mp4"}
+{"uid":"4062934104506562096","text":"\u003ctask:success:discrete:True\u003e\nMove to the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the coffee machine\n\u003c/PRED\u003e","video":"7069315424489041061.mp4"}
+{"uid":"1066617890020997377","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tea 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":"5655921743872066843.mp4"}
+{"uid":"16897419920963832688","text":"\u003ctask:success:discrete:False\u003e\nMove close to the lid of the coffee dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the lid of the coffee dispenser 2- move to the lid of the coffee machine 3- close the coffee machine lid 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the lid of the coffee dispenser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to the lid of the coffee dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine Q: immediate next step? \u003cPRED\u003eA: Move close to the lid of the coffee dispenser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Move close to the lid of the coffee dispenser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move close to the lid of the coffee dispenser\n\u003c/PRED\u003e","video":"11788138738164465799.mp4"}
+{"uid":"13906137649349601345","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the coffee machine lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the coffee machine 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: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine 15- Move away from the coffee machine 16- move to the lid of the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- close the coffee machine lid 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine 15- Move away from the coffee machine 16- move to the lid of the coffee machine Q: immediate next step? \u003cPRED\u003eA: close the coffee machine lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the coffee machine 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: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: close the coffee machine lid\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the coffee machine lid\n\u003c/PRED\u003e","video":"16092171139095629586.mp4"}
+{"uid":"17313815808736828422","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- press the coffee dispenser button 2- grab the paper cup 3- Move away from the brown paper cup 4- Grasp the paper cup 5- pick up the brown paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: press the coffee dispenser button\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: press the coffee dispenser button\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: press the coffee dispenser button\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npress the coffee dispenser button Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npress the coffee dispenser button Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine Q: immediate next step? \u003cPRED\u003eA: press the coffee dispenser button\n\u003c/PRED\u003e","video":"11592224821867526542.mp4"}
+{"uid":"16051069207844052034","text":"\u003ctask:success:discrete:True\u003e\nMove away from the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move away from the coffee machine\n\u003c/PRED\u003e","video":"13584509538171076954.mp4"}
+{"uid":"6436861056855608560","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Pick up the stainer  on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the stainer  on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table Q: immediate next step? \u003cPRED\u003eA: Pick up the stainer  on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the stainer  on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 stainer  on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 stainer  on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the stainer  on the table 2- move closer to the coffee machine 3- Place the strainer into the coffee machine 4- Move away from the coffee machine 5- move to the lid of the coffee machine\n\u003c/PRED\u003e","video":"5994027096215740506.mp4"}
+{"uid":"12351992753193433038","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: move away from the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup Q: immediate next step? \u003cPRED\u003eA: move away from the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the paper cup 2- move away from the table 3- hold the silver object 4- pick up the silver object 5- move closer to the coffee machine\n\u003c/PRED\u003e","video":"7710232425152421397.mp4"}
+{"uid":"3307792043826538909","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the strainer 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 strainer 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: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object Q: immediate next step? \u003cPRED\u003eA: Pick up the strainer 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 strainer from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the strainer from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the strainer from the table 2- move closer to the coffee machine 3- Place the strainer into the coffee machine 4- Move away from the coffee machine 5- move to the lid of the coffee machine\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Pick up the strainer from the table\n\u003c/PRED\u003e","video":"17856318730797182064.mp4"}
+{"uid":"546703204674812566","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy balls in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5003039700729752667.mp4"}
+{"uid":"9079793943968771451","text":"\u003ctask:success:discrete:True\u003e\nHold the stainer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Hold the stainer\n\u003c/PRED\u003e","video":"12921041105548082014.mp4"}
+{"uid":"13103184240201042638","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the paper 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":"4094836408686700926.mp4"}
+{"uid":"7183865242525271617","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17459992306390657615.mp4"}
+{"uid":"3900638080053113481","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the table 2- hold the silver object 3- pick up the silver object 4- move closer to the coffee machine 5- Place the strainer into the coffee machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser Q: immediate next step? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e","video":"3671723129699602240.mp4"}
+{"uid":"1079253911019061385","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Place the strainer in the coffee dispenser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the strainer in the coffee dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object Q: next 5 steps? \u003cPRED\u003eA: 1- Place the strainer in the coffee dispenser 2- move to the lid of the coffee machine 3- close the coffee machine lid 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the strainer in the coffee dispenser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the strainer in the coffee dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object Q: immediate next step? \u003cPRED\u003eA: Place the strainer in the coffee dispenser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the strainer in the coffee dispenser\n\u003c/PRED\u003e","video":"3628519722372961296.mp4"}
+{"uid":"12115406555716463932","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Place the paper cup below the coffee dispenser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the paper cup below the coffee dispenser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the paper cup below the coffee dispenser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup Q: immediate next step? \u003cPRED\u003eA: Place the paper cup below the coffee dispenser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the paper cup below the coffee dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the paper cup below the coffee dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the paper cup below the coffee dispenser 2- move away from the table 3- hold the silver object 4- pick up the silver object 5- move closer to the coffee machine\n\u003c/PRED\u003e","video":"15834025886246063478.mp4"}
+{"uid":"18065833939005805794","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brown packet inside 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":"2350678576864293701.mp4"}
+{"uid":"5485793017678332780","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the lid of the coffee machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine 15- Move away from the coffee machine 16- move to the lid of the coffee machine 17- Close the lid of the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the lid of the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine 15- Move away from the coffee machine 16- move to the lid of the coffee machine 17- Close the lid of the coffee machine Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10133484963149025905.mp4"}
+{"uid":"3355770914551221994","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the strainer towards the coffee dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object Q: immediate next step? \u003cPRED\u003eA: move the strainer towards the coffee dispenser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object Q: next 5 steps? \u003cPRED\u003eA: 1- move the strainer towards the coffee dispenser 2- Move away from the coffee machine 3- move to the lid of the coffee machine 4- close the coffee machine lid 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the strainer towards the coffee dispenser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the strainer towards the coffee dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: move the strainer towards the coffee dispenser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the strainer towards the coffee dispenser\n\u003c/PRED\u003e","video":"17816095139279680517.mp4"}
+{"uid":"9686369118988409066","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":"7798215416697807932.mp4"}
+{"uid":"17953733275867003863","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":"13499868714095744827.mp4"}
+{"uid":"8618874432413764360","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Move away from the brown paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the brown paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the brown paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup Q: immediate next step? \u003cPRED\u003eA: Move away from the brown paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the brown 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: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the brown paper cup 2- Grasp the paper cup 3- pick up the brown paper cup 4- Place the paper cup on the coffee dispenser 5- move away from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the brown 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","video":"10131456484751360382.mp4"}
+{"uid":"2830844823034723745","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Move away from the coffee dispenser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine Q: immediate next step? \u003cPRED\u003eA: Move away from the coffee dispenser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the coffee dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the coffee dispenser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the coffee dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the coffee dispenser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the coffee dispenser 2- move to the lid of the coffee machine 3- close the coffee machine lid 4- done\n\u003c/PRED\u003e","video":"13347879600326015432.mp4"}
+{"uid":"3527207930420831314","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move away from the brown paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove away from the brown paper 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":"805779304061442674.mp4"}
+{"uid":"3077658517901528039","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":"4744994526768632577.mp4"}
+{"uid":"5438953120121982935","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the paper cup on the coffee dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup Q: immediate next step? \u003cPRED\u003eA: Place the paper cup on the coffee dispenser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the paper cup on the coffee dispenser 2- move away from the table 3- hold the silver object 4- pick up the silver object 5- move closer to the coffee machine\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the paper cup on the coffee dispenser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the paper cup on the coffee dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Place the paper cup on the coffee dispenser\n\u003c/PRED\u003e\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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the paper cup on the coffee dispenser\n\u003c/PRED\u003e","video":"5110196688431177124.mp4"}
+{"uid":"352554114084748070","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":"16594941281198284424.mp4"}
+{"uid":"14688713156112885818","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":"4564561350235858644.mp4"}
+{"uid":"230773340223317026","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: move away from the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the paper cup 2- Grasp the paper cup 3- pick up the brown paper cup 4- Place the paper cup on the coffee dispenser 5- move away from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup Q: immediate next step? \u003cPRED\u003eA: move away from the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16369559420139348573.mp4"}
+{"uid":"5230167949849108863","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":"7060317628157242825.mp4"}
+{"uid":"11453592536537103885","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":"18261661672612715249.mp4"}
+{"uid":"18393497060099974447","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: move away from the brown paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup Q: immediate next step? \u003cPRED\u003eA: move away from the brown paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the brown 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:success:discrete:False\u003e\nmove away from the brown 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the brown paper cup 2- Grasp the paper cup 3- pick up the brown paper cup 4- Place the paper cup on the coffee dispenser 5- move away from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the brown paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the brown paper cup\n\u003c/PRED\u003e","video":"2391684456540785999.mp4"}
+{"uid":"18428692609589261969","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the silver object\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the silver object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6446662102939998080.mp4"}
+{"uid":"12242435080159971422","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":"15696180977171745470.mp4"}
+{"uid":"13574339216219734668","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the strainer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table Q: immediate next step? \u003cPRED\u003eA: Pick up the strainer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the strainer 2- move closer to the coffee machine 3- Place the strainer into the coffee machine 4- Move away from the coffee machine 5- move to the lid of the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the strainer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Pick up the strainer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the strainer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 strainer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10355874324420557736.mp4"}
+{"uid":"15829557511824654549","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Pick up the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the paper cup 2- Place the paper cup on the coffee dispenser 3- move away from the table 4- hold the silver object 5- pick up the silver object\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\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup Q: immediate next step? \u003cPRED\u003eA: Pick up the paper cup\n\u003c/PRED\u003e\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: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","video":"1636799584069863116.mp4"}
+{"uid":"13091742685834112101","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the strainer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the strainer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 strainer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the strainer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the strainer 2- pick up the silver object 3- move closer to the coffee machine 4- Place the strainer into the coffee machine 5- Move away from the coffee machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table Q: immediate next step? \u003cPRED\u003eA: Grasp the strainer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Grasp the strainer\n\u003c/PRED\u003e","video":"15513524490506548846.mp4"}
+{"uid":"6510934032461090089","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the transparent 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":"1089895656732953027.mp4"}
+{"uid":"14513097545011740101","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":"7135035608164276928.mp4"}
+{"uid":"3208277472984178766","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue square 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":"14955229348375418727.mp4"}
+{"uid":"7426821875999676437","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrasp the paper 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":"2694491258620140619.mp4"}
+{"uid":"18254216826717542664","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep pen on 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":"1870154499561319927.mp4"}
+{"uid":"10438017111002086442","text":"\u003ctask:success:discrete:True\u003e\nPick up the strainer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 strainer\n\u003c/PRED\u003e","video":"16312078229196311693.mp4"}
+{"uid":"11274999452394455408","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes 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":"12337107639920048181.mp4"}
+{"uid":"16793001068410545480","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the strainer on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Move to the strainer on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser Q: immediate next step? \u003cPRED\u003eA: Move to the strainer on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the strainer on the table 2- pick up the silver object 3- move closer to the coffee machine 4- Place the strainer into the coffee machine 5- Move away from the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the strainer on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the strainer on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 strainer on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17098800502578479570.mp4"}
+{"uid":"9598959799679481829","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab 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: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- grab the paper cup 2- Move away from the brown paper cup 3- Grasp the paper cup 4- pick up the brown paper cup 5- Place the paper cup on the coffee dispenser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine Q: immediate next step? \u003cPRED\u003eA: grab the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab 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:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: grab the paper cup\n\u003c/PRED\u003e","video":"10314077177535694870.mp4"}
+{"uid":"1320370002251699488","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the paper cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the paper 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: Move to the paper cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the paper 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: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine Q: immediate next step? \u003cPRED\u003eA: Move to the paper cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Move to the paper cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the paper cup on the table 2- Move away from the brown paper cup 3- Grasp the paper cup 4- pick up the brown paper cup 5- Place the paper cup on the coffee dispenser\n\u003c/PRED\u003e","video":"1898394613050782537.mp4"}
+{"uid":"7871570309586532196","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Touch the coffee dispenser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Touch the coffee dispenser 2- move away from the coffee machine 3- Move to the paper cup on the table 4- grab the paper cup 5- Move away from the brown paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTouch the coffee dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTouch the coffee dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Touch the coffee dispenser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Touch the coffee dispenser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Touch the coffee dispenser\n\u003c/PRED\u003e","video":"7241192225744146428.mp4"}
+{"uid":"9767190102594517256","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the brown paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the brown paper 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":"17876250265196103706.mp4"}
+{"uid":"10379887329086703659","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the brown paper cup on the drip tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Place the brown paper cup on the drip tray 2- move away from the table 3- hold the silver object 4- pick up the silver object 5- move closer to the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the brown paper cup on the drip tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the brown paper cup on the drip tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Place the brown paper cup on the drip tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the brown paper cup on the drip 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: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup Q: immediate next step? \u003cPRED\u003eA: Place the brown paper cup on the drip tray\n\u003c/PRED\u003e","video":"14599120759618418531.mp4"}
+{"uid":"14164460943613486828","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine Q: immediate next step? \u003cPRED\u003eA: open the lid of the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the lid of the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the lid of the coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the lid of the coffee machine\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: open the lid of the coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the lid of the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- open the lid of the coffee machine 2- move away from the coffee machine 3- Move to the paper cup on the table 4- grab the paper cup 5- Move away from the brown paper cup\n\u003c/PRED\u003e","video":"8412108805229946350.mp4"}
+{"uid":"115347050806582566","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the paper cup 2- Place the paper cup on the coffee dispenser 3- move away from the table 4- hold the silver object 5- pick up the silver object\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. 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\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: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: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup Q: immediate next step? \u003cPRED\u003eA: pick up the paper cup\n\u003c/PRED\u003e","video":"5382089721716693374.mp4"}
+{"uid":"1122123475797343335","text":"\u003ctask:success:discrete:True\u003e\nput the strainer in the coffee dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the strainer in the coffee dispenser\n\u003c/PRED\u003e","video":"1504486486599064764.mp4"}
+{"uid":"5078507352886510001","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: touch the coffee dispenser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine 15- Move away from the coffee machine Q: immediate next step? \u003cPRED\u003eA: touch the coffee dispenser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntouch the coffee dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: touch the coffee dispenser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: touch the coffee dispenser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine 15- Move away from the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- touch the coffee dispenser 2- close the coffee machine lid 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntouch the coffee dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17618108775642213469.mp4"}
+{"uid":"4546876407486574363","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the coffee machine\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Move away from the coffee machine\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the coffee machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine Q: immediate next step? \u003cPRED\u003eA: Move away from the coffee machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the coffee machine 2- move to the lid of the coffee machine 3- close the coffee machine lid 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3821065567744485133.mp4"}
+{"uid":"4998310371230045721","text":"\u003ctask:success:discrete:True\u003e\nMove to the strainer on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 strainer on the table\n\u003c/PRED\u003e","video":"14638595276250129631.mp4"}
+{"uid":"1953501848581673266","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the paper cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the paper 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":"13443397598742546140.mp4"}
+{"uid":"1210615934517131722","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sticky notes into the glass 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":"6541161558825654330.mp4"}
+{"uid":"10987285437627925392","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the strainer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrab the strainer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7901795109284976277.mp4"}
+{"uid":"15405560943939822657","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from 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:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Move away from the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup Q: immediate next step? \u003cPRED\u003eA: Move away from the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the paper cup 2- Grasp the paper cup 3- pick up the brown paper cup 4- Place the paper cup on the coffee dispenser 5- move away from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16744291389373351369.mp4"}
+{"uid":"11869495505618353298","text":"\u003ctask:success:discrete:False\u003e\nmove to the lid of the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: move to the lid of the coffee machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine 15- Move away from the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- move to the lid of the coffee machine 2- close the coffee machine lid 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the lid of the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the lid of the coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the lid of the coffee machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine 15- Move away from the coffee machine Q: immediate next step? \u003cPRED\u003eA: move to the lid of the coffee machine\n\u003c/PRED\u003e","video":"10310934954378117774.mp4"}
+{"uid":"16606922777412407289","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green marker 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":"17754119877151953595.mp4"}
+{"uid":"14901707810566597904","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the brown paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine Q: immediate next step? \u003cPRED\u003eA: Move to the brown paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the brown 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:success:discrete:False\u003e\nMove to the brown 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:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Move to the brown paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the brown paper cup 2- Move away from the brown paper cup 3- Grasp the paper cup 4- pick up the brown paper cup 5- Place the paper cup on the coffee dispenser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the brown paper cup\n\u003c/PRED\u003e","video":"11293082857574657958.mp4"}
+{"uid":"9489176982478033949","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":"8664627408848092539.mp4"}
+{"uid":"16020038136703459252","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":"14594126758319111179.mp4"}
+{"uid":"3103838971699547688","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the brown paper cup 2- Place the paper cup on the coffee dispenser 3- move away from the table 4- hold the silver object 5- pick up the silver object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the brown paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the brown paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the brown paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: pick up the brown paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup Q: immediate next step? \u003cPRED\u003eA: pick up the brown paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the brown paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7507706284757845093.mp4"}
+{"uid":"10801298219912452060","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the scissor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12304206719207927668.mp4"}
+{"uid":"14836171338407295974","text":"\u003ctask:success:discrete:True\u003e\npick up the brown paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the brown paper cup\n\u003c/PRED\u003e","video":"5621119230752907240.mp4"}
+{"uid":"18322968771906107906","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object Q: next 5 steps? \u003cPRED\u003eA: 1- Hold the stainer 2- Place the strainer into the coffee machine 3- Move away from the coffee machine 4- move to the lid of the coffee machine 5- close the coffee machine lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nHold the stainer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object Q: immediate next step? \u003cPRED\u003eA: Hold the stainer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nHold the stainer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Hold the stainer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Hold the stainer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Hold the stainer\n\u003c/PRED\u003e","video":"6723094885098061696.mp4"}
+{"uid":"13141775446153565390","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\u003ctask:success:discrete:True\u003e\npress the coffee dispenser button Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: press the coffee dispenser button\n\u003c/PRED\u003e","video":"10441646341893332492.mp4"}
+{"uid":"9966338323200050596","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the candy in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12417600451463018869.mp4"}
+{"uid":"18187520520621495742","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black marker 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":"822823559069461800.mp4"}
+{"uid":"15191409816558199878","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":"87118506014871185.mp4"}
+{"uid":"6496874581628236014","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"10449243177446027480.mp4"}
+{"uid":"17715457817424177656","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"18112320131571369446.mp4"}
+{"uid":"8126481054367499318","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":"11716219200344042203.mp4"}
+{"uid":"1995620924506997440","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":"4353537194634408655.mp4"}
+{"uid":"8868957943167912412","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine 15- Move away from the coffee machine 16- move to the lid of the coffee machine Q: immediate next step? \u003cPRED\u003eA: close the lid of the coffee dispenser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine 15- Move away from the coffee machine 16- move to the lid of the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- close the lid of the coffee dispenser 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the lid of the coffee dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the lid of the coffee dispenser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: close the lid of the coffee dispenser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the lid of the coffee dispenser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the lid of the coffee dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9140450250637415330.mp4"}
+{"uid":"14100590448628941044","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pebble in 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":"785654894908876064.mp4"}
+{"uid":"14542228636780620083","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the pen from table and place it in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4210283038160653738.mp4"}
+{"uid":"6131849174413844621","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Red Bull 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":"11314929455452931907.mp4"}
+{"uid":"574813074653532450","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the lid of the coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen the lid of the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13652861150273215506.mp4"}
+{"uid":"6753908979322843346","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine 15- Move away from the coffee machine 16- move to the lid of the coffee machine 17- Touch the lid of the coffee dispenser Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nTouch the lid of the coffee dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine 15- Move away from the coffee machine 16- move to the lid of the coffee machine 17- Touch the lid of the coffee dispenser Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Touch the lid of the coffee dispenser\n\u003c/PRED\u003e","video":"14501152925226877814.mp4"}
+{"uid":"3419219771575879919","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":"7750763760897931032.mp4"}
+{"uid":"10209167201192542477","text":"\u003ctask:success:discrete:True\u003e\nTouch the coffee dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Touch the coffee dispenser\n\u003c/PRED\u003e","video":"4053699939939290485.mp4"}
+{"uid":"17180559963911352025","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo closer to the blue 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":"5088250605525454087.mp4"}
+{"uid":"1133573093395086747","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the coffee dispenser 2- Move to the paper cup on the table 3- grab the paper cup 4- Move away from the brown paper cup 5- Grasp the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Move away from the coffee dispenser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the coffee dispenser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine Q: immediate next step? \u003cPRED\u003eA: Move away from the coffee dispenser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the coffee dispenser\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the coffee dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the coffee dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9818303445028401997.mp4"}
+{"uid":"9175564260916974133","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a 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":"10063551465737291348.mp4"}
+{"uid":"10948646663407898874","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":"7486279057933128377.mp4"}
+{"uid":"12374193421252459136","text":"\u003ctask:success:discrete:False\u003e\nMove the paper cup 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: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Move the paper cup to the right\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the paper cup to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the paper cup to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine Q: immediate next step? \u003cPRED\u003eA: Move the paper cup to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the paper cup to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- Move the paper cup to the right 2- Move away from the brown paper cup 3- Grasp the paper cup 4- pick up the brown paper cup 5- Place the paper cup on the coffee dispenser\n\u003c/PRED\u003e","video":"12137825446647639265.mp4"}
+{"uid":"12774588733873754974","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grasp the brown paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrasp the brown paper 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":"3376668858285042717.mp4"}
+{"uid":"11481061663657212944","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the strainer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the strainer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: grab the strainer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the strainer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table Q: immediate next step? \u003cPRED\u003eA: grab the strainer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the strainer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- grab the strainer 2- pick up the silver object 3- move closer to the coffee machine 4- Place the strainer into the coffee machine 5- Move away from the coffee machine\n\u003c/PRED\u003e","video":"18398566968535086018.mp4"}
+{"uid":"2263886393897371891","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Move to the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine 15- Move away from the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the coffee machine 2- close the coffee machine lid 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the coffee machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine 15- Move away from the coffee machine Q: immediate next step? \u003cPRED\u003eA: Move to the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6727439774111024696.mp4"}
+{"uid":"606754867675680903","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pink candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17681557738672553689.mp4"}
+{"uid":"10888990549392810407","text":"\u003ctask:success:discrete:True\u003e\nplace the brown paper cup on the drip 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 brown paper cup on the drip tray\n\u003c/PRED\u003e","video":"14646766769357812599.mp4"}
+{"uid":"16183108607976227471","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Touch the lid of the coffee dispenser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Touch the lid of the coffee dispenser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine 15- Move away from the coffee machine 16- move to the lid of the coffee machine Q: immediate next step? \u003cPRED\u003eA: Touch the lid of the coffee dispenser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTouch the lid of the coffee dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTouch the lid of the coffee dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Touch the lid of the coffee dispenser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine 15- Move away from the coffee machine 16- move to the lid of the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- Touch the lid of the coffee dispenser 2- done\n\u003c/PRED\u003e","video":"5201236097626979403.mp4"}
+{"uid":"3604923880458792676","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the paper cup below the coffee dispenser\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the paper cup below the coffee dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18228490310705363095.mp4"}
+{"uid":"2879213682668690538","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove to the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10134355938259433864.mp4"}
+{"uid":"6470029717803206206","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the strainer in the coffee dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine Q: immediate next step? \u003cPRED\u003eA: put the strainer in the coffee dispenser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- put the strainer in the coffee dispenser 2- move to the lid of the coffee machine 3- close the coffee machine lid 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the strainer in the coffee dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the strainer in the coffee dispenser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: put the strainer in the coffee dispenser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the strainer in the coffee dispenser\n\u003c/PRED\u003e","video":"6140568083381361890.mp4"}
+{"uid":"6960858426878102994","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":"14287266924200599665.mp4"}
+{"uid":"3784278894917940388","text":"\u003ctask:success:discrete:True\u003e\nmove to the lid of the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the lid of the coffee machine\n\u003c/PRED\u003e","video":"1787658041246961362.mp4"}
+{"uid":"4129746980293251779","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Move away from the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the coffee machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine Q: immediate next step? \u003cPRED\u003eA: Move away from the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the coffee machine 2- move to the lid of the coffee machine 3- close the coffee machine lid 4- done\n\u003c/PRED\u003e","video":"940537563159098276.mp4"}
+{"uid":"17668848692298634461","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":"3089348081105177782.mp4"}
+{"uid":"3220706535862377310","text":"\u003ctask:success:discrete:True\u003e\nPlace the stainer in the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the stainer in the coffee machine\n\u003c/PRED\u003e","video":"16351204529623547115.mp4"}
+{"uid":"4894182375356565441","text":"\u003ctask:success:discrete:False\u003e\ntouch the coffee dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: touch the coffee dispenser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- touch the coffee dispenser 2- Move to the paper cup on the table 3- grab the paper cup 4- Move away from the brown paper cup 5- Grasp the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine Q: immediate next step? \u003cPRED\u003eA: touch the coffee dispenser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: touch the coffee dispenser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntouch the coffee dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: touch the coffee dispenser\n\u003c/PRED\u003e","video":"16514215716870178576.mp4"}
+{"uid":"1818506186156125339","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":"1604544044028272344.mp4"}
+{"uid":"8696580851267525225","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object Q: immediate next step? \u003cPRED\u003eA: pick up the silver object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the silver object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the silver object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the silver 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: pick up the silver object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the silver object 2- move closer to the coffee machine 3- Place the strainer into the coffee machine 4- Move away from the coffee machine 5- move to the lid of the coffee machine\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: pick up the silver object\n\u003c/PRED\u003e","video":"15868332617718224843.mp4"}
+{"uid":"12175915888697722244","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move away from the coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove away from the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9832647418057510652.mp4"}
+{"uid":"12094235421833830459","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose 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":"10815168066512498441.mp4"}
+{"uid":"3442790995517708288","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine 15- Move away from the coffee machine 16- move to the lid of the coffee machine 17- close the coffee machine lid Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine 15- Move away from the coffee machine 16- move to the lid of the coffee machine 17- close the coffee machine lid Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the coffee machine 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: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the coffee machine lid\n\u003c/PRED\u003e","video":"14720956374519866790.mp4"}
+{"uid":"9694774342774719120","text":"\u003ctask:success:discrete:True\u003e\nMove the paper cup to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the paper cup to the right\n\u003c/PRED\u003e","video":"16320163187857713583.mp4"}
+{"uid":"1059190641166681386","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the paper cup 2- pick up the brown paper cup 3- Place the paper cup on the coffee dispenser 4- move away from the table 5- hold the silver object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp 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:success:discrete:False\u003e\nGrasp 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:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Grasp the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup Q: immediate next step? \u003cPRED\u003eA: Grasp the paper cup\n\u003c/PRED\u003e","video":"7197984420117139371.mp4"}
+{"uid":"3460980883211070509","text":"\u003ctask:success:discrete:True\u003e\nplace the silver object in the tray of dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the silver object in the tray of dispenser\n\u003c/PRED\u003e","video":"10815325007042492883.mp4"}
+{"uid":"11723491922365532448","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the plastic glass 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":"12940063108064094302.mp4"}
+{"uid":"1865190459883275165","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":"2023042601816694737.mp4"}
+{"uid":"12470337166725311641","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: hold the silver object\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nhold the silver object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8276247009901950435.mp4"}
+{"uid":"11102735011896135374","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: hold the silver object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table Q: next 5 steps? \u003cPRED\u003eA: 1- hold the silver object 2- pick up the silver object 3- move closer to the coffee machine 4- Place the strainer into the coffee machine 5- Move away from the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nhold the silver object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nhold the silver object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: hold the silver object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table Q: immediate next step? \u003cPRED\u003eA: hold the silver object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: hold the silver object\n\u003c/PRED\u003e","video":"7676417254776858699.mp4"}
+{"uid":"18018780058384255119","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: place the silver object in the tray of dispenser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- place the silver object in the tray of dispenser 2- move to the lid of the coffee machine 3- close the coffee machine lid 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the silver object in the tray of dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine Q: immediate next step? \u003cPRED\u003eA: place the silver object in the tray of dispenser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the silver object in the tray of dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the silver object in the tray of dispenser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the silver object in the tray of dispenser\n\u003c/PRED\u003e","video":"3084950628752357999.mp4"}
+{"uid":"11948589092942777680","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the lid of the coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the lid of the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the lid of the coffee machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- Open the lid of the coffee machine 2- Move to the paper cup on the table 3- grab the paper cup 4- Move away from the brown paper cup 5- Grasp the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine Q: immediate next step? \u003cPRED\u003eA: Open the lid of the coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the lid of the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Open the lid of the coffee machine\n\u003c/PRED\u003e","video":"15867327336476653420.mp4"}
+{"uid":"6178622962026500894","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: move away from the coffee machine\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the coffee machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the coffee machine 2- Move to the paper cup on the table 3- grab the paper cup 4- Move away from the brown paper cup 5- Grasp the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine Q: immediate next step? \u003cPRED\u003eA: move away from the coffee machine\n\u003c/PRED\u003e","video":"539176301387045683.mp4"}
+{"uid":"8644474484093608106","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move to the coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the coffee machine\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: move to the coffee machine\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the coffee machine\n\u003c/PRED\u003e","video":"2047140592215122831.mp4"}
+{"uid":"1422217352679264686","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab the orange snack 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":"16168876160745966968.mp4"}
+{"uid":"1036425812298338538","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move closer to the coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove closer to the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6894602088610685293.mp4"}
+{"uid":"12078310276292738601","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pebble in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4292594839599850733.mp4"}
+{"uid":"6808121980700097496","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object Q: immediate next step? \u003cPRED\u003eA: Place the stainer in the coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the stainer in the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the stainer in the coffee machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object Q: next 5 steps? \u003cPRED\u003eA: 1- Place the stainer in the coffee machine 2- Move away from the coffee machine 3- move to the lid of the coffee machine 4- close the coffee machine lid 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the stainer in the coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the stainer in the coffee machine\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Place the stainer in the coffee machine\n\u003c/PRED\u003e","video":"17685855519337210751.mp4"}
+{"uid":"1614916060129211645","text":"\u003ctask:success:discrete:True\u003e\nmove away from the brown paper 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: move away from the brown paper cup\n\u003c/PRED\u003e","video":"13567878798123238134.mp4"}
+{"uid":"5229608614733389341","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo away from the bottom 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":"6069801443017931106.mp4"}
+{"uid":"5761871622866643297","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine Q: immediate next step? \u003cPRED\u003eA: Go away from the coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo away from the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go away from the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go away from the coffee machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- Go away from the coffee machine 2- grab the paper cup 3- Move away from the brown paper cup 4- Grasp the paper cup 5- pick up the brown paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Go away from the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo away from the coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10924856882722048277.mp4"}
+{"uid":"1608840333799323641","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown paper cup on the drip tray 2- move away from the table 3- hold the silver object 4- pick up the silver object 5- move closer to the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the brown paper cup on the drip tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 paper cup on the drip tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the brown paper cup on the drip tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup Q: immediate next step? \u003cPRED\u003eA: place the brown paper cup on the drip tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: place the brown paper cup on the drip tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the brown paper cup on the drip 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":"18211494989526002040.mp4"}
+{"uid":"5124109082248520201","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green 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":"16705452670353335777.mp4"}
+{"uid":"5540132377816417131","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy 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":"4676550515377199598.mp4"}
+{"uid":"15723954817879345000","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the knife 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":"4910045130773196165.mp4"}
+{"uid":"8550630598477777022","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: pick up the strainer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the strainer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the strainer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the strainer 2- move closer to the coffee machine 3- Place the strainer into the coffee machine 4- Move away from the coffee machine 5- move to the lid of the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the strainer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object Q: immediate next step? \u003cPRED\u003eA: pick up the strainer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the strainer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"368618518266259159.mp4"}
+{"uid":"4490912671289278613","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the lid of the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the lid of the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the lid of the coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine 15- Move away from the coffee machine 16- move to the lid of the coffee machine Q: immediate next step? \u003cPRED\u003eA: close the lid of the coffee machine\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: close the lid of the coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the lid of the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine 15- Move away from the coffee machine 16- move to the lid of the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- close the lid of the coffee machine 2- done\n\u003c/PRED\u003e","video":"1598367399813549000.mp4"}
+{"uid":"745443328468126921","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Close the lid of the coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the lid of the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the lid of the coffee machine\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine 15- Move away from the coffee machine 16- move to the lid of the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- Close the lid of the coffee machine 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the lid of the coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the lid of the coffee machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine 15- Move away from the coffee machine 16- move to the lid of the coffee machine Q: immediate next step? \u003cPRED\u003eA: Close the lid of the coffee machine\n\u003c/PRED\u003e","video":"2815834693974223546.mp4"}
+{"uid":"16940361156792905335","text":"\u003ctask:success:discrete:False\u003e\nMove the paper cup to the coffee dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the paper cup to the coffee dispenser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the paper cup to the coffee dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Move the paper cup to the coffee dispenser 2- move away from the table 3- hold the silver object 4- pick up the silver object 5- move closer to the coffee machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup Q: immediate next step? \u003cPRED\u003eA: Move the paper cup to the coffee dispenser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the paper cup to the coffee dispenser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Move the paper cup to the coffee dispenser\n\u003c/PRED\u003e","video":"2664403700918191546.mp4"}
+{"uid":"11614166194637229159","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chocolate  in to bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5161734393085676021.mp4"}
+{"uid":"2330189521331324699","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":"10111341784324612982.mp4"}
+{"uid":"5694695507599931507","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":"2224748983826135688.mp4"}
+{"uid":"6219206243592299445","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npour the nuts 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":"11319296719176998201.mp4"}
+{"uid":"2789047499676533788","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Touch the coffee dispenser\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nTouch the coffee dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2400485960223613997.mp4"}
+{"uid":"16858270086354789419","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":"13204109100207385612.mp4"}
+{"uid":"16149807042289447110","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the table 2- hold the silver object 3- pick up the silver object 4- move closer to the coffee machine 5- Place the strainer into the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser Q: immediate next step? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the table\n\u003c/PRED\u003e","video":"5721636763360359546.mp4"}
+{"uid":"7167329535601693058","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the coffee machine 2- move away from the coffee machine 3- Move to the paper cup on the table 4- grab the paper cup 5- Move away from the brown paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move to the coffee machine\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Move to the coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the coffee machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the coffee machine\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the coffee machine\n\u003c/PRED\u003e","video":"6706935495009473932.mp4"}
+{"uid":"3923942229923177733","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the lid of the coffee machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine 15- Move away from the coffee machine 16- move to the lid of the coffee machine 17- close the lid of the coffee machine Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the lid of the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup 8- pick up the brown paper cup 9- Place the paper cup on the coffee dispenser 10- move away from the table 11- hold the silver object 12- pick up the silver object 13- move closer to the coffee machine 14- Place the strainer into the coffee machine 15- Move away from the coffee machine 16- move to the lid of the coffee machine 17- close the lid of the coffee machine Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"16776218863444954707.mp4"}
+{"uid":"11494465033587567138","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in a glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15548996593946613956.mp4"}
+{"uid":"17721637014776102057","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7183082036199798882.mp4"}
+{"uid":"8425198471365645725","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the strainer into the coffee machine\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the strainer into the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6187218306445823865.mp4"}
+{"uid":"8847397832755197977","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the stack of cups on the stack of 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":"8642295033550208415.mp4"}
+{"uid":"3723164663637866447","text":"\u003ctask:success:discrete:True\u003e\nopen the lid of the coffee machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the lid of the coffee machine\n\u003c/PRED\u003e","video":"1006058649712442453.mp4"}
+{"uid":"12056349511270994118","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup Q: immediate next step? \u003cPRED\u003eA: Pick up the paper cup from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the paper cup from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: Pick up the paper cup from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the paper cup 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 paper cup from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: 1- move to the coffee machine 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup 6- Move away from the brown paper cup 7- Grasp the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the paper cup from the table 2- Place the paper cup on the coffee dispenser 3- move away from the table 4- hold the silver object 5- pick up the silver object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the paper cup from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12540149323349522139.mp4"}
+{"uid":"9149178666457906271","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the brown paper cup on the drip tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the brown paper cup on the drip 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":"3920143234676219508.mp4"}
+{"uid":"4075774064939625626","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the chocolate balls in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9131020472332965823.mp4"}
+{"uid":"13770887696687765226","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the paper 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":"10657726506113582270.mp4"}
+{"uid":"1995179223655011533","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the coffee dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the coffee dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move towards the coffee dispenser\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the coffee dispenser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. Q: immediate next step? \u003cPRED\u003eA: move towards the coffee dispenser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the coffee dispenser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: prepare a cup of coffee with the espresso machine. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the coffee dispenser 2- open the lid of the coffee machine 3- move away from the coffee machine 4- Move to the paper cup on the table 5- grab the paper cup\n\u003c/PRED\u003e","video":"2674970698312549661.mp4"}
+{"uid":"13980412227163019583","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen stand in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4375932508741620792.mp4"}
+{"uid":"6318161348996236622","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the stainer  on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the stainer  on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7628097846982582917.mp4"}
+{"uid":"5572297072801090163","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic spoon 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":"10483786861914809090.mp4"}
+{"uid":"11668089192892255379","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12238606857020625461.mp4"}
+{"uid":"10754862249258815512","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need somehting to write with, please go to the supply cabinet and bring me back a pencil. last 20 steps: 1- open the locker 2- open the locker 3- pull the tray outside 4- Place the pen pencil on the table 5- push the tray inside 6- Place the pen pencil on the top of the locker 7- close the locker Q: immediate next step? \u003cPRED\u003eA: close the locker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the locker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the locker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i need somehting to write with, please go to the supply cabinet and bring me back a pencil Q: immediate next step? \u003cPRED\u003eA: close the locker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the locker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 somehting to write with, please go to the supply cabinet and bring me back a pencil. last 20 steps: 1- open the locker 2- open the locker 3- pull the tray outside 4- Place the pen pencil on the table 5- push the tray inside 6- Place the pen pencil on the top of the locker 7- close the locker Q: next 5 steps? \u003cPRED\u003eA: 1- close the locker 2- place the pen pencil on the table 3- done\n\u003c/PRED\u003e","video":"11599839193467011662.mp4"}
+{"uid":"13806621655478396384","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me a sandwhich from the fridge in the mk. last 20 steps: 1- open the fridge Q: immediate next step? \u003cPRED\u003eA: place the bread packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bread 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 bring me a sandwhich from the fridge in the mk Q: immediate next step? \u003cPRED\u003eA: place the bread packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bread 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 bread packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bread packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me a sandwhich from the fridge in the mk. last 20 steps: 1- open the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- place the bread packet on the table 2- done\n\u003c/PRED\u003e","video":"6883984732960777728.mp4"}
+{"uid":"17998950568671299461","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up 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":"14892302711856017788.mp4"}
+{"uid":"3417012512555539242","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":"9687733451849100558.mp4"}
+{"uid":"7990579152672423769","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":"2425365188714162182.mp4"}
+{"uid":"16754578179218203002","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the locker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the locker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the locker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 somehting to write with, please go to the supply cabinet and bring me back a pencil. last 20 steps: 1- open the locker 2- open the locker 3- pull the tray outside 4- Place the pen pencil on the table 5- push the tray inside 6- Place the pen pencil on the top of the locker Q: immediate next step? \u003cPRED\u003eA: close the locker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i need somehting to write with, please go to the supply cabinet and bring me back a pencil. last 20 steps: 1- open the locker 2- open the locker 3- pull the tray outside 4- Place the pen pencil on the table 5- push the tray inside 6- Place the pen pencil on the top of the locker Q: next 5 steps? \u003cPRED\u003eA: 1- close the locker 2- close the locker 3- place the pen pencil on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the locker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 somehting to write with, please go to the supply cabinet and bring me back a pencil Q: immediate next step? \u003cPRED\u003eA: close the locker\n\u003c/PRED\u003e","video":"12505441535595617446.mp4"}
+{"uid":"9091163254343649829","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ngo to the duster Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go to the duster\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. Q: next 5 steps? \u003cPRED\u003eA: 1- go to the duster 2- pick up the duster 3- drop the duster in the green trash bin. 4- go to the white glass. 5- move to the toy strawberry.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin Q: immediate next step? \u003cPRED\u003eA: go to the duster\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo to the duster Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go to the duster\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. Q: immediate next step? \u003cPRED\u003eA: go to the duster\n\u003c/PRED\u003e","video":"11583587366144876449.mp4"}
+{"uid":"9366530191037095156","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the small glass on the round table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6495805997318914132.mp4"}
+{"uid":"6167801844195788087","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack up the paper glasses 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":"8584753724464504835.mp4"}
+{"uid":"908092240057437608","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace cups inside 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":"17117116876150820028.mp4"}
+{"uid":"9736149877973844039","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":"12535390944734788711.mp4"}
+{"uid":"18089628985219890466","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the toy strawberry.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove to the toy strawberry. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13329145375762394226.mp4"}
+{"uid":"3310133385771042687","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":"17708643068335923022.mp4"}
+{"uid":"8881517391348143628","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the white glass in the green trash bin.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the white glass in the green 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":"11846158966719065230.mp4"}
+{"uid":"10261305097913704398","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the 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":"5696657928185861.mp4"}
+{"uid":"3314178646904595856","text":"\u003ctask:success:discrete:False\u003e\nmove away from the white glass. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the white glass. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin Q: immediate next step? \u003cPRED\u003eA: move away from the white glass.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the white glass.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. Q: immediate next step? \u003cPRED\u003eA: move away from the white glass.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the white glass. 2- go to the duster 3- grasp the duster 4- pick up the duster 5- drop the duster in the green trash bin.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the white glass.\n\u003c/PRED\u003e","video":"8933503239185835601.mp4"}
+{"uid":"5116436286877284508","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go to the toy strawberry on the floor.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo to the toy strawberry on the floor. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16050282102609445401.mp4"}
+{"uid":"17342850424893087351","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you take out all the fruits from the bowl. last 20 steps: 1- Put the apple on the table 2- Put the pear on the table 3- Put the pear on the table 4- Put the apple on the table 5- Put the apple on the table 6- Put the pear on the table 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:planning:freeform\u003e\ncurrent goal is: can you take out all 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: can you take out all the fruits from the bowl. last 20 steps: 1- Put the apple on the table 2- Put the pear on the table 3- Put the pear on the table 4- Put the apple on the table 5- Put the apple on the table 6- Put the pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple on the table 2- Put the pear on the table 3- Put the pear on the table 4- done\n\u003c/PRED\u003e","video":"1623107509129728768.mp4"}
+{"uid":"11018312963356141416","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":"10861973848467052455.mp4"}
+{"uid":"16796711001525272889","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15697406407673327698.mp4"}
+{"uid":"11805031412385888504","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":"8474676397124311961.mp4"}
+{"uid":"10725818138274225885","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin Q: immediate next step? \u003cPRED\u003eA: go closer to the white glass.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. Q: immediate next step? \u003cPRED\u003eA: go closer to the white glass.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go closer to the white glass.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo closer to the white glass. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. Q: next 5 steps? \u003cPRED\u003eA: 1- go closer to the white glass. 2- drop the white glass in the green trash bin. 3- move away from the white glass. 4- go to the duster 5- grasp the duster\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo closer to the white 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: go closer to the white glass.\n\u003c/PRED\u003e","video":"9441008096201873239.mp4"}
+{"uid":"11632335486040074761","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. 10- go to the duster 11- grasp the duster 12- pick up the duster 13- drop the duster in the green trash bin. 14- go to the white glass. 15- move to the toy strawberry. 16- grasp the toy strawberry. 17- lift the toy strawberry. 18- drop the strawberry toy on the floor. 19- go to the toy strawberry on the floor. 20- grasp the toy strawberry Q: immediate next step? \u003cPRED\u003eA: drop the toy strawberry in the green trash bin.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin Q: immediate next step? \u003cPRED\u003eA: drop the toy strawberry in the green trash bin.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the toy strawberry in the green trash bin.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the toy strawberry in the green 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: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. 10- go to the duster 11- grasp the duster 12- pick up the duster 13- drop the duster in the green trash bin. 14- go to the white glass. 15- move to the toy strawberry. 16- grasp the toy strawberry. 17- lift the toy strawberry. 18- drop the strawberry toy on the floor. 19- go to the toy strawberry on the floor. 20- grasp the toy strawberry Q: next 5 steps? \u003cPRED\u003eA: 1- drop the toy strawberry in the green trash bin. 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the toy strawberry in the green 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: drop the toy strawberry in the green trash bin.\n\u003c/PRED\u003e","video":"11173831628268647321.mp4"}
+{"uid":"11404475172550860193","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate 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":"18294228017544693512.mp4"}
+{"uid":"3359240039742791446","text":"\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the bottle.\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- grab the bottle. 2- drop the bottle in the green trash bin. 3- move your arm away from the bottle. 4- go closer to the white glass. 5- pick up the white glass.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: grab the bottle.\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\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin Q: immediate next step? \u003cPRED\u003eA: grab the bottle.\n\u003c/PRED\u003e","video":"8791376379620982943.mp4"}
+{"uid":"2788072400326105824","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. Q: immediate next step? \u003cPRED\u003eA: drop the white glass in the green trash bin.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the white glass in the green trash bin. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin Q: immediate next step? \u003cPRED\u003eA: drop the white glass in the green trash bin.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the white glass in the green 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: drop the white glass in the green trash bin.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. Q: next 5 steps? \u003cPRED\u003eA: 1- drop the white glass in the green trash bin. 2- move away from the white glass. 3- go to the duster 4- grasp the duster 5- pick up the duster\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the white glass in the green trash bin.\n\u003c/PRED\u003e","video":"14472585574006588454.mp4"}
+{"uid":"18025103466993817170","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nHold the apple 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":"16606079099160448023.mp4"}
+{"uid":"1040446532647935155","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you take out all the fruits from the bowl. last 20 steps: 1- Put the apple on the table 2- Put the pear on the table 3- Put the pear on the table 4- Put the apple on the table 5- Put the apple on the table 6- Put the pear on the table 7- Put the apple on the table Q: immediate next step? \u003cPRED\u003eA: Put the pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pear on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the 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: can you take out all the fruits from the bowl. last 20 steps: 1- Put the apple on the table 2- Put the pear on the table 3- Put the pear on the table 4- Put the apple on the table 5- Put the apple on the table 6- Put the pear on the table 7- Put the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear on the table 2- Put the pear 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 pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pear on the table\n\u003c/PRED\u003e","video":"8855472823934787705.mp4"}
+{"uid":"6613624773777265257","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go closer to the white glass.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo closer to the white 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":"3031267220333760658.mp4"}
+{"uid":"7607456022037823142","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16624308590180525413.mp4"}
+{"uid":"5834282292231698743","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":"14113693766129363231.mp4"}
+{"uid":"17430648727230149820","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":"5790941941711190345.mp4"}
+{"uid":"1513112179030697322","text":"\u003ctask:success:discrete:True\u003e\nPut the 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 the pear on the table\n\u003c/PRED\u003e","video":"11328498280093499035.mp4"}
+{"uid":"14296109188217015147","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin Q: immediate next step? \u003cPRED\u003eA: move to the toy strawberry.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. 10- go to the duster 11- grasp the duster 12- pick up the duster 13- drop the duster in the green trash bin. 14- go to the white glass. Q: next 5 steps? \u003cPRED\u003eA: 1- move to the toy strawberry. 2- lift the toy strawberry. 3- drop the strawberry toy on the floor. 4- go to the toy strawberry on the floor. 5- grasp the toy strawberry\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. 10- go to the duster 11- grasp the duster 12- pick up the duster 13- drop the duster in the green trash bin. 14- go to the white glass. Q: immediate next step? \u003cPRED\u003eA: move to the toy strawberry.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the toy strawberry.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the toy strawberry. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 toy strawberry. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 toy strawberry.\n\u003c/PRED\u003e","video":"15900906503599723995.mp4"}
+{"uid":"7799007016677671314","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":"17336839519929693166.mp4"}
+{"uid":"4708822562625849454","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grasp the toy strawberry.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. 10- go to the duster 11- grasp the duster 12- pick up the duster 13- drop the duster in the green trash bin. 14- go to the white glass. Q: immediate next step? \u003cPRED\u003eA: grasp the toy strawberry.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrasp the toy strawberry. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 toy strawberry. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 toy strawberry.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin Q: immediate next step? \u003cPRED\u003eA: grasp the toy strawberry.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. 10- go to the duster 11- grasp the duster 12- pick up the duster 13- drop the duster in the green trash bin. 14- go to the white glass. Q: next 5 steps? \u003cPRED\u003eA: 1- grasp the toy strawberry. 2- drop the strawberry toy on the floor. 3- go to the toy strawberry on the floor. 4- grasp the toy strawberry 5- lift the toy strawberry\n\u003c/PRED\u003e","video":"1551458770732578407.mp4"}
+{"uid":"5532342598700895058","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. Q: immediate next step? \u003cPRED\u003eA: pick up the white glass.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the white glass.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the white glass. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the white 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: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the white glass. 2- move away from the white glass. 3- go to the duster 4- grasp the duster 5- pick up the duster\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the white glass.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin Q: immediate next step? \u003cPRED\u003eA: pick up the white glass.\n\u003c/PRED\u003e","video":"16155895597712678885.mp4"}
+{"uid":"9199144701773512442","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the apple 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":"2275040457815426532.mp4"}
+{"uid":"3908743166961577744","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. 10- go to the duster 11- grasp the duster 12- pick up the duster Q: immediate next step? \u003cPRED\u003eA: go to the white glass.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go to the white glass.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. 10- go to the duster 11- grasp the duster 12- pick up the duster Q: next 5 steps? \u003cPRED\u003eA: 1- go to the white glass. 2- move to the toy strawberry. 3- grasp the toy strawberry. 4- lift the toy strawberry. 5- drop the strawberry toy on the floor.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo to the white glass. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin Q: immediate next step? \u003cPRED\u003eA: go to the white glass.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go to the white glass.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo to the white glass. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15031856255599780224.mp4"}
+{"uid":"11599427803626061760","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":"3554784808136728264.mp4"}
+{"uid":"9246514086341613400","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":"8488642850450307460.mp4"}
+{"uid":"10347139069612181720","text":"\u003ctask:success:discrete:True\u003e\ndrop the bottle in the green 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: drop the bottle in the green trash bin.\n\u003c/PRED\u003e","video":"8620394079751205986.mp4"}
+{"uid":"4966079639388952878","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you take out all the fruits from the bowl. last 20 steps: 1- Put the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear on the table 2- Put the pear on the table 3- Put the apple on the table 4- Put the apple on the table 5- Put the pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you take out all the fruits from the bowl. last 20 steps: 1- Put the apple on the table Q: immediate next step? \u003cPRED\u003eA: Put the pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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":"17401194367521897899.mp4"}
+{"uid":"1747172918403222231","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need somehting to write with, please go to the supply cabinet and bring me back a pencil. last 20 steps: 1- open the locker 2- open the locker 3- pull the tray outside 4- Place the pen pencil on the table 5- push the tray inside 6- Place the pen pencil on the top of the locker 7- close the locker 8- close the locker 9- place the pen pencil on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen pencil on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i need somehting to write with, please go to the supply cabinet and bring me back a pencil. last 20 steps: 1- open the locker 2- open the locker 3- pull the tray outside 4- Place the pen pencil on the table 5- push the tray inside 6- Place the pen pencil on the top of the locker 7- close the locker 8- close the locker 9- place the pen pencil on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i need somehting to write with, please go to the supply cabinet and bring me back a pencil Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen pencil on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12087967801068008096.mp4"}
+{"uid":"2896936136418419585","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you take out all the fruits from the bowl. last 20 steps: none 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: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 take out all the fruits from the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple on the table 2- Put the pear on the table 3- Put the pear on the table 4- Put the apple on the table 5- Put the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you take out all 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: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":"14656452204834076875.mp4"}
+{"uid":"14167118404335150295","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you take out all 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: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 take out all the fruits from the bowl. last 20 steps: 1- Put the apple on the table 2- Put the pear on the table 3- Put the pear on the table 4- Put the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple on the table 2- Put the pear on the table 3- Put the apple on the table 4- Put the pear on the table 5- Put the pear 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you take out all the fruits from the bowl. last 20 steps: 1- Put the apple on the table 2- Put the pear on the table 3- Put the pear on the table 4- Put the apple on the table Q: immediate next step? \u003cPRED\u003eA: Put the apple on the table\n\u003c/PRED\u003e","video":"2374920332571414243.mp4"}
+{"uid":"7587269787694573097","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the strawberry toy on the floor.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the strawberry toy on the floor. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the strawberry toy on the floor.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the strawberry toy 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: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. 10- go to the duster 11- grasp the duster 12- pick up the duster 13- drop the duster in the green trash bin. 14- go to the white glass. 15- move to the toy strawberry. 16- grasp the toy strawberry. Q: next 5 steps? \u003cPRED\u003eA: 1- drop the strawberry toy on the floor. 2- go to the toy strawberry on the floor. 3- grasp the toy strawberry 4- lift the toy strawberry 5- drop the toy strawberry in the green trash bin.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin Q: immediate next step? \u003cPRED\u003eA: drop the strawberry toy on the floor.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. 10- go to the duster 11- grasp the duster 12- pick up the duster 13- drop the duster in the green trash bin. 14- go to the white glass. 15- move to the toy strawberry. 16- grasp the toy strawberry. Q: immediate next step? \u003cPRED\u003eA: drop the strawberry toy on the floor.\n\u003c/PRED\u003e","video":"8119535159100216212.mp4"}
+{"uid":"1452239651392533482","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need somehting to write with, please go to the supply cabinet and bring me back a pencil. last 20 steps: 1- open the locker 2- open the locker 3- pull the tray outside Q: immediate next step? \u003cPRED\u003eA: Place the pen pencil on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen pencil on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen pencil on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 pencil on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen pencil on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i need somehting to write with, please go to the supply cabinet and bring me back a pencil. last 20 steps: 1- open the locker 2- open the locker 3- pull the tray outside Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen pencil on the table 2- push the tray inside 3- Place the pen pencil on the top of the locker 4- close the locker 5- close the locker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i need somehting to write with, please go to the supply cabinet and bring me back a pencil Q: immediate next step? \u003cPRED\u003eA: Place the pen pencil on the table\n\u003c/PRED\u003e","video":"17510248776262005802.mp4"}
+{"uid":"11086671468429032238","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":"11665325031362260501.mp4"}
+{"uid":"10570895943862986323","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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: can you take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you take out all the fruits from the bowl. last 20 steps: 1- Put the apple on the table 2- Put the pear on the table Q: immediate next step? \u003cPRED\u003eA: Put the pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you take out all the fruits from the bowl. last 20 steps: 1- Put the apple on the table 2- Put the pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear on the table 2- Put the apple on the table 3- Put the apple on the table 4- Put the pear 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 pear on the table\n\u003c/PRED\u003e","video":"14213824870217079912.mp4"}
+{"uid":"5250481897972796500","text":"\u003ctask:success:discrete:True\u003e\npick up the white glass. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the white glass.\n\u003c/PRED\u003e","video":"3069799527373745090.mp4"}
+{"uid":"5419589382105811747","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move to the bottle.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the bottle.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the bottle.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin Q: immediate next step? \u003cPRED\u003eA: move to the bottle.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move to the bottle. 2- pick up the bottle. 3- drop the bottle in the green trash bin. 4- move your arm away from the bottle. 5- go closer to the white glass.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove 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","video":"7563298968759081160.mp4"}
+{"uid":"5023460997887518757","text":"\u003ctask:success:discrete:False\u003e\nopen the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me a sandwhich from the fridge in the mk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the fridge 2- place the bread packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me a sandwhich from the fridge in the mk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring me a sandwhich from the fridge in the mk Q: immediate next step? \u003cPRED\u003eA: open the fridge\n\u003c/PRED\u003e","video":"11359621646085004912.mp4"}
+{"uid":"4002631026870707431","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 3 black pens 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":"4957479715840803339.mp4"}
+{"uid":"11836445362372480241","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":"7388399015674061551.mp4"}
+{"uid":"1071863315591896275","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the bottle in the green trash bin.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. Q: immediate next step? \u003cPRED\u003eA: drop the bottle in the green trash bin.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. Q: next 5 steps? \u003cPRED\u003eA: 1- drop the bottle in the green trash bin. 2- move your arm away from the bottle. 3- go closer to the white glass. 4- pick up the white glass. 5- drop the white glass in the green trash bin.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the bottle in the green trash bin.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin Q: immediate next step? \u003cPRED\u003eA: drop the bottle in the green trash bin.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the bottle in the green trash bin. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15956991715063882691.mp4"}
+{"uid":"5921407986099135467","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npull the tray outside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the tray outside\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i need somehting to write with, please go to the supply cabinet and bring me back a pencil Q: immediate next step? \u003cPRED\u003eA: pull the tray outside\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i need somehting to write with, please go to the supply cabinet and bring me back a pencil. last 20 steps: 1- open the locker 2- open the locker Q: next 5 steps? \u003cPRED\u003eA: 1- pull the tray outside 2- Place the pen pencil on the table 3- push the tray inside 4- Place the pen pencil on the top of the locker 5- close the locker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the tray outside\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need somehting to write with, please go to the supply cabinet and bring me back a pencil. last 20 steps: 1- open the locker 2- open the locker Q: immediate next step? \u003cPRED\u003eA: pull the tray outside\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the tray outside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"512427002781793495.mp4"}
+{"uid":"9815468414104802447","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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: can you take out all the fruits from the bowl. last 20 steps: 1- Put the apple on the table 2- Put the pear on the table 3- Put the pear on the table 4- Put the apple on the table 5- Put the apple on the table 6- Put the pear on the table 7- Put the apple on the table 8- Put the pear on the table Q: immediate next step? \u003cPRED\u003eA: Put the pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pear on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you take out all the fruits from the bowl. last 20 steps: 1- Put the apple on the table 2- Put the pear on the table 3- Put the pear on the table 4- Put the apple on the table 5- Put the apple on the table 6- Put the pear on the table 7- Put the apple on the table 8- Put the pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear on the table 2- done\n\u003c/PRED\u003e","video":"15374120755633853639.mp4"}
+{"uid":"12178685983176171062","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the tray inside\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the tray inside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i need somehting to write with, please go to the supply cabinet and bring me back a pencil. last 20 steps: 1- open the locker 2- open the locker 3- pull the tray outside 4- Place the pen pencil on the table Q: next 5 steps? \u003cPRED\u003eA: 1- push the tray inside 2- Place the pen pencil on the top of the locker 3- close the locker 4- close the locker 5- place the pen pencil on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the tray inside\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need somehting to write with, please go to the supply cabinet and bring me back a pencil. last 20 steps: 1- open the locker 2- open the locker 3- pull the tray outside 4- Place the pen pencil on the table Q: immediate next step? \u003cPRED\u003eA: push the tray inside\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i need somehting to write with, please go to the supply cabinet and bring me back a pencil Q: immediate next step? \u003cPRED\u003eA: push the tray inside\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the tray inside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8958298199357706092.mp4"}
+{"uid":"12835196864376930496","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"1502853658317100122.mp4"}
+{"uid":"17270302610905278120","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":"17881396553333119176.mp4"}
+{"uid":"7520434257306630204","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the bottle.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove 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","video":"6489983702070899963.mp4"}
+{"uid":"5157188028244654543","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoon on the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13912169035199603483.mp4"}
+{"uid":"16797261074046546897","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"173399655339791985.mp4"}
+{"uid":"8979212570398349921","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13981122943096442439.mp4"}
+{"uid":"880135549478339477","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":"8336498038348169209.mp4"}
+{"uid":"4901499860544933160","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin Q: immediate next step? \u003cPRED\u003eA: grasp the toy strawberry\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrasp the toy strawberry Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. 10- go to the duster 11- grasp the duster 12- pick up the duster 13- drop the duster in the green trash bin. 14- go to the white glass. 15- move to the toy strawberry. 16- grasp the toy strawberry. 17- lift the toy strawberry. 18- drop the strawberry toy on the floor. Q: immediate next step? \u003cPRED\u003eA: grasp the toy strawberry\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrasp the toy strawberry Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 toy strawberry\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. 10- go to the duster 11- grasp the duster 12- pick up the duster 13- drop the duster in the green trash bin. 14- go to the white glass. 15- move to the toy strawberry. 16- grasp the toy strawberry. 17- lift the toy strawberry. 18- drop the strawberry toy on the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- grasp the toy strawberry 2- drop the toy strawberry in the green trash bin. 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grasp the toy strawberry\n\u003c/PRED\u003e","video":"12539454887044479079.mp4"}
+{"uid":"12684401694040449829","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink marker 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":"5828427959458384437.mp4"}
+{"uid":"9833151599807235059","text":"\u003ctask:success:discrete:True\u003e\ngrasp the toy strawberry. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 toy strawberry.\n\u003c/PRED\u003e","video":"15236069558355059247.mp4"}
+{"uid":"13317582009489773102","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ngo to the toy strawberry on the floor. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go to the toy strawberry on the floor.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go to the toy strawberry on the floor.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin Q: immediate next step? \u003cPRED\u003eA: go to the toy strawberry on the floor.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. 10- go to the duster 11- grasp the duster 12- pick up the duster 13- drop the duster in the green trash bin. 14- go to the white glass. 15- move to the toy strawberry. 16- grasp the toy strawberry. 17- lift the toy strawberry. 18- drop the strawberry toy on the floor. Q: immediate next step? \u003cPRED\u003eA: go to the toy strawberry on the floor.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. 10- go to the duster 11- grasp the duster 12- pick up the duster 13- drop the duster in the green trash bin. 14- go to the white glass. 15- move to the toy strawberry. 16- grasp the toy strawberry. 17- lift the toy strawberry. 18- drop the strawberry toy on the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- go to the toy strawberry on the floor. 2- lift the toy strawberry 3- drop the toy strawberry in the green trash bin. 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo to the toy strawberry 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":"18059590293181271066.mp4"}
+{"uid":"7773792617737804376","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bread packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring me a sandwhich from the fridge in the mk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me a sandwhich from the fridge in the mk. last 20 steps: 1- open the fridge 2- place the bread packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the bread packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring me a sandwhich from the fridge in the mk. last 20 steps: 1- open the fridge 2- place the bread packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"16734897358834900382.mp4"}
+{"uid":"15997019259819162356","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift the toy strawberry.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift the toy strawberry. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. 10- go to the duster 11- grasp the duster 12- pick up the duster 13- drop the duster in the green trash bin. 14- go to the white glass. 15- move to the toy strawberry. Q: immediate next step? \u003cPRED\u003eA: lift the toy strawberry.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift the toy strawberry.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin Q: immediate next step? \u003cPRED\u003eA: lift the toy strawberry.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. 10- go to the duster 11- grasp the duster 12- pick up the duster 13- drop the duster in the green trash bin. 14- go to the white glass. 15- move to the toy strawberry. Q: next 5 steps? \u003cPRED\u003eA: 1- lift the toy strawberry. 2- go to the toy strawberry on the floor. 3- grasp the toy strawberry 4- lift the toy strawberry 5- drop the toy strawberry in the green trash bin.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift the toy strawberry. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9680858560915710880.mp4"}
+{"uid":"13460213197016348826","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift the toy strawberry\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin Q: immediate next step? \u003cPRED\u003eA: lift the toy strawberry\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift the toy strawberry Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. 10- go to the duster 11- grasp the duster 12- pick up the duster 13- drop the duster in the green trash bin. 14- go to the white glass. 15- move to the toy strawberry. 16- grasp the toy strawberry. 17- lift the toy strawberry. 18- drop the strawberry toy on the floor. 19- go to the toy strawberry on the floor. Q: next 5 steps? \u003cPRED\u003eA: 1- lift the toy strawberry 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. 10- go to the duster 11- grasp the duster 12- pick up the duster 13- drop the duster in the green trash bin. 14- go to the white glass. 15- move to the toy strawberry. 16- grasp the toy strawberry. 17- lift the toy strawberry. 18- drop the strawberry toy on the floor. 19- go to the toy strawberry on the floor. Q: immediate next step? \u003cPRED\u003eA: lift the toy strawberry\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift the toy strawberry\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift the toy strawberry Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1215228052840556489.mp4"}
+{"uid":"3520019485297051174","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you take out all the fruits from the bowl. last 20 steps: 1- Put the apple on the table 2- Put the pear on the table 3- Put the pear on the table 4- Put the apple on the table 5- Put the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear on the table 2- Put the apple on the table 3- Put the pear on the table 4- Put the pear 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 pear on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you take out all the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: Put the pear on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you take out all the fruits from the bowl. last 20 steps: 1- Put the apple on the table 2- Put the pear on the table 3- Put the pear on the table 4- Put the apple on the table 5- Put the apple on the table Q: immediate next step? \u003cPRED\u003eA: Put the pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the 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":"10255406112841322759.mp4"}
+{"uid":"11224778550868173996","text":"\u003ctask:success:discrete:True\u003e\ndrop the strawberry toy on the floor. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the strawberry toy on the floor.\n\u003c/PRED\u003e","video":"3025505020420938473.mp4"}
+{"uid":"782894164307344889","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput milk carton 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":"7659978791463416341.mp4"}
+{"uid":"84138917565307437","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7843738436897443563.mp4"}
+{"uid":"6688489159105149585","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange 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":"10215462680440834413.mp4"}
+{"uid":"9029809066287448616","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrasp the right file Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4618983169024658202.mp4"}
+{"uid":"4843387748866700567","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- grab the bottle. 2- pick up the bottle. 3- drop the bottle in the green trash bin. 4- move your arm away from the bottle. 5- go closer to the white glass. 6- pick up the white glass. 7- drop the white glass in the green trash bin. 8- move away from the white glass. 9- go to the duster 10- grasp the duster 11- pick up the duster 12- drop the duster in the green trash bin. 13- go to the white glass. 14- move to the toy strawberry. 15- grasp the toy strawberry. 16- lift the toy strawberry. 17- drop the strawberry toy on the floor. 18- go to the toy strawberry on the floor. 19- grasp the toy strawberry 20- drop the toy strawberry in the green trash bin. Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- grab the bottle. 2- pick up the bottle. 3- drop the bottle in the green trash bin. 4- move your arm away from the bottle. 5- go closer to the white glass. 6- pick up the white glass. 7- drop the white glass in the green trash bin. 8- move away from the white glass. 9- go to the duster 10- grasp the duster 11- pick up the duster 12- drop the duster in the green trash bin. 13- go to the white glass. 14- move to the toy strawberry. 15- grasp the toy strawberry. 16- lift the toy strawberry. 17- drop the strawberry toy on the floor. 18- go to the toy strawberry on the floor. 19- grasp the toy strawberry 20- drop the toy strawberry in the green trash bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the 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 toy strawberry in the green trash bin.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the toy strawberry in the green 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":"14916654481639578364.mp4"}
+{"uid":"13972441631691678931","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup on the cups stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9430558682270959342.mp4"}
+{"uid":"1767490712459148826","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16096920169359482944.mp4"}
+{"uid":"7673509933151165938","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the locker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need somehting to write with, please go to the supply cabinet and bring me back a pencil. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the locker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the locker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i need somehting to write with, please go to the supply cabinet and bring me back a pencil Q: immediate next step? \u003cPRED\u003eA: open the locker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the locker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 somehting to write with, please go to the supply cabinet and bring me back a pencil. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the locker 2- open the locker 3- pull the tray outside 4- Place the pen pencil on the table 5- push the tray inside\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the locker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15840746548686595065.mp4"}
+{"uid":"15197147340566622282","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":"6474041131583323987.mp4"}
+{"uid":"13499500128342158017","text":"\u003ctask:success:discrete:False\u003e\nplace the pen pencil on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 pencil on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i need somehting to write with, please go to the supply cabinet and bring me back a pencil Q: immediate next step? \u003cPRED\u003eA: place the pen pencil on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need somehting to write with, please go to the supply cabinet and bring me back a pencil. last 20 steps: 1- open the locker 2- open the locker 3- pull the tray outside 4- Place the pen pencil on the table 5- push the tray inside 6- Place the pen pencil on the top of the locker 7- close the locker 8- close the locker Q: immediate next step? \u003cPRED\u003eA: place the pen pencil on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen pencil on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i need somehting to write with, please go to the supply cabinet and bring me back a pencil. last 20 steps: 1- open the locker 2- open the locker 3- pull the tray outside 4- Place the pen pencil on the table 5- push the tray inside 6- Place the pen pencil on the top of the locker 7- close the locker 8- close the locker Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen pencil on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen pencil on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8932267997845850310.mp4"}
+{"uid":"10312780108804815886","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the duster in the green trash bin.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the duster in the green 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":"698587513634340692.mp4"}
+{"uid":"7414911553682870049","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. 10- go to the duster Q: immediate next step? \u003cPRED\u003eA: pick up the duster\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. 10- go to the duster Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the duster 2- go to the white glass. 3- move to the toy strawberry. 4- grasp the toy strawberry. 5- lift the toy strawberry.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin Q: immediate next step? \u003cPRED\u003eA: pick up the duster\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the duster Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the duster Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the duster\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the duster\n\u003c/PRED\u003e","video":"3112507937286046053.mp4"}
+{"uid":"321185619857231392","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"14954918919933657149.mp4"}
+{"uid":"14566251274550482100","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm away from the bottle.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. Q: immediate next step? \u003cPRED\u003eA: move your arm away from the bottle.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm away from the bottle. 2- pick up the white glass. 3- drop the white glass in the green trash bin. 4- move away from the white glass. 5- go to the duster\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin Q: immediate next step? \u003cPRED\u003eA: move your arm away from the bottle.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm away from the bottle.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm away from 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 away from 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","video":"2296583672642929553.mp4"}
+{"uid":"15293823067550239226","text":"\u003ctask:success:discrete:False\u003e\nPlace the pen pencil on the top of the locker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 pencil on the top of the locker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen pencil on the top of the locker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i need somehting to write with, please go to the supply cabinet and bring me back a pencil. last 20 steps: 1- open the locker 2- open the locker 3- pull the tray outside 4- Place the pen pencil on the table 5- push the tray inside Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen pencil on the top of the locker 2- close the locker 3- close the locker 4- place the pen pencil on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen pencil on the top of the locker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 somehting to write with, please go to the supply cabinet and bring me back a pencil. last 20 steps: 1- open the locker 2- open the locker 3- pull the tray outside 4- Place the pen pencil on the table 5- push the tray inside Q: immediate next step? \u003cPRED\u003eA: Place the pen pencil on the top of the locker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i need somehting to write with, please go to the supply cabinet and bring me back a pencil Q: immediate next step? \u003cPRED\u003eA: Place the pen pencil on the top of the locker\n\u003c/PRED\u003e","video":"7055680820895516212.mp4"}
+{"uid":"12544606112343128524","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. 10- go to the duster 11- grasp the duster Q: next 5 steps? \u003cPRED\u003eA: 1- drop the duster in the green trash bin. 2- move to the toy strawberry. 3- grasp the toy strawberry. 4- lift the toy strawberry. 5- drop the strawberry toy on the floor.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the duster in the green trash bin.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. 10- go to the duster 11- grasp the duster Q: immediate next step? \u003cPRED\u003eA: drop the duster in the green trash bin.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin Q: immediate next step? \u003cPRED\u003eA: drop the duster in the green trash bin.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the duster in the green trash bin.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the duster in the green 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 duster in the green trash bin. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4288130136108293883.mp4"}
+{"uid":"3106238484934334271","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":"2943362592581802029.mp4"}
+{"uid":"3795285807961857564","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grasp the duster\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. Q: immediate next step? \u003cPRED\u003eA: grasp the duster\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grasp the duster\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrasp 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. Q: next 5 steps? \u003cPRED\u003eA: 1- grasp the duster 2- drop the duster in the green trash bin. 3- go to the white glass. 4- move to the toy strawberry. 5- grasp the toy strawberry.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrasp 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:planning:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin Q: immediate next step? \u003cPRED\u003eA: grasp the duster\n\u003c/PRED\u003e","video":"1610875109993467959.mp4"}
+{"uid":"17629711714855418521","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":"10238504293294569645.mp4"}
+{"uid":"14428516437953353793","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: lift the toy strawberry\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. 10- go to the duster 11- grasp the duster 12- pick up the duster 13- drop the duster in the green trash bin. 14- go to the white glass. 15- move to the toy strawberry. 16- grasp the toy strawberry. 17- lift the toy strawberry. 18- drop the strawberry toy on the floor. 19- go to the toy strawberry on the floor. 20- lift the toy strawberry Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. 3- pick up the bottle. 4- drop the bottle in the green trash bin. 5- move your arm away from the bottle. 6- go closer to the white glass. 7- pick up the white glass. 8- drop the white glass in the green trash bin. 9- move away from the white glass. 10- go to the duster 11- grasp the duster 12- pick up the duster 13- drop the duster in the green trash bin. 14- go to the white glass. 15- move to the toy strawberry. 16- grasp the toy strawberry. 17- lift the toy strawberry. 18- drop the strawberry toy on the floor. 19- go to the toy strawberry on the floor. 20- lift the toy strawberry Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nlift the toy strawberry Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2945315946225193977.mp4"}
+{"uid":"6353237653609217231","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go to the duster\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo to the duster Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15213741557644177077.mp4"}
+{"uid":"6825162559279731013","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove teh cups to left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3831146826888919364.mp4"}
+{"uid":"14447906615508409495","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you take out all the fruits from the bowl 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 take out all the fruits from the bowl. last 20 steps: 1- Put the apple on the table 2- Put the pear on the table 3- Put the pear on the table 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: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 take out all the fruits from the bowl. last 20 steps: 1- Put the apple on the table 2- Put the pear on the table 3- Put the pear 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 pear on the table 4- Put the apple on the table 5- Put the pear 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","video":"12336146586739702181.mp4"}
+{"uid":"12871823850933869765","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the bottle in the green trash bin.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin Q: immediate next step? \u003cPRED\u003eA: drop the bottle in the green trash bin.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the bottle in the green 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: drop the bottle in the green trash bin.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. Q: next 5 steps? \u003cPRED\u003eA: 1- drop the bottle in the green trash bin. 2- go closer to the white glass. 3- pick up the white glass. 4- drop the white glass in the green trash bin. 5- move away from the white glass.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the bottle in the green trash bin. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. 2- grab the bottle. Q: immediate next step? \u003cPRED\u003eA: drop the bottle in the green trash bin.\n\u003c/PRED\u003e","video":"13355688015663476533.mp4"}
+{"uid":"963382368100705437","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":"1128432538371634730.mp4"}
+{"uid":"13825024874574516306","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the locker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the locker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 somehting to write with, please go to the supply cabinet and bring me back a pencil. last 20 steps: 1- open the locker Q: next 5 steps? \u003cPRED\u003eA: 1- open the locker 2- pull the tray outside 3- Place the pen pencil on the table 4- push the tray inside 5- Place the pen pencil on the top of the locker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i need somehting to write with, please go to the supply cabinet and bring me back a pencil. last 20 steps: 1- open the locker Q: immediate next step? \u003cPRED\u003eA: open the locker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the locker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i need somehting to write with, please go to the supply cabinet and bring me back a pencil Q: immediate next step? \u003cPRED\u003eA: open the locker\n\u003c/PRED\u003e","video":"10474731301635508994.mp4"}
+{"uid":"13325974189432216235","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. Q: immediate next step? \u003cPRED\u003eA: pick up the bottle.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the bin. last 20 steps: 1- move to the bottle. Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the bottle. 2- move your arm away from the bottle. 3- go closer to the white glass. 4- pick up the white glass. 5- drop the white glass in the green trash bin.\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:planning:freeform\u003e\ncurrent goal is: put the apples, the eraser, the cup into the 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":"18337177110491328150.mp4"}
+{"uid":"17975800004265797198","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":"5039967262701148264.mp4"}
+{"uid":"2469448027231289487","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the wire roll in the carton\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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table Q: immediate next step? \u003cPRED\u003eA: Place the wire roll in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the wire roll in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the wire roll in the carton\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: Place the wire roll in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the wire roll in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the wire roll in the carton 2- pick up the white object on the table 3- pick up the apple on the table 4- place the tissue box in the carton 5- pick up the packet on the table\n\u003c/PRED\u003e","video":"4115447617744125655.mp4"}
+{"uid":"195297217501973532","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move your arm towards the orange peel\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove your arm towards the orange peel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1052145209862054243.mp4"}
+{"uid":"2878818800556392092","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 Q: next 5 steps? \u003cPRED\u003eA: 1- open the box 2- place the bowl in the carton 3- pick the black object on the table 4- pick up sanitizer jar 5- pick up the scrubber on the table\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: 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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: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","video":"3665428905296320532.mp4"}
+{"uid":"14108270564019574655","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards 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":"8579057811589276644.mp4"}
+{"uid":"15524583230204620378","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16005463445944256075.mp4"}
+{"uid":"464596447043121260","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bowl in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the bowl in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1038576142068387135.mp4"}
+{"uid":"16169766670069091595","text":"\u003ctask:success:discrete:True\u003e\npick the black 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the black object on the table\n\u003c/PRED\u003e","video":"16366334005938495460.mp4"}
+{"uid":"7487018045734616103","text":"\u003ctask:success:discrete:False\u003e\npick up sanitizer 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the box 2- Open the carton 3- place the bowl in the carton 4- pick the black object on the table Q: immediate next step? \u003cPRED\u003eA: pick up sanitizer jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up sanitizer jar\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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up sanitizer jar 2- pick up the scrubber on the table 3- pick up the cable on the table 4- pick up the white object on the table 5- pick up the apple on the table\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: pick up sanitizer jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up sanitizer jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up sanitizer 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":"9138605052188389471.mp4"}
+{"uid":"16940096992638805006","text":"\u003ctask:success:discrete:True\u003e\nPut the white object in 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 the white object in cardboard box\n\u003c/PRED\u003e","video":"1549605189741345696.mp4"}
+{"uid":"14084651251814781468","text":"\u003ctask:success:discrete:True\u003e\npick up sanitizer 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 up sanitizer jar\n\u003c/PRED\u003e","video":"18293283190959030024.mp4"}
+{"uid":"12252986731214216474","text":"\u003ctask:success:discrete:True\u003e\nPut the sponge in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the sponge in the carton\n\u003c/PRED\u003e","video":"10635951543620916532.mp4"}
+{"uid":"17503522121796564129","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange 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\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange chocolate in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9768316697677848940.mp4"}
+{"uid":"7332394958374795201","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow 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":"1371495266358707467.mp4"}
+{"uid":"12852539542816308315","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the white packet near the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13680106102773340745.mp4"}
+{"uid":"10960364271855588976","text":"\u003ctask:success:discrete:True\u003e\npick up 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: pick up the apple on the table\n\u003c/PRED\u003e","video":"3723350530820933184.mp4"}
+{"uid":"10040510283375278145","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":"7822189755688293954.mp4"}
+{"uid":"8130233403949372884","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tissue box in cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tissue box in cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tissue box in cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tissue box in 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the box 2- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table 9- pick up the apple on the table Q: immediate next step? \u003cPRED\u003eA: Put the tissue box in cardboard 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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table 9- pick up the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tissue box in cardboard box 2- pick up the cable on the table 3- Put the lan cable in cardboard box 4- 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 tissue box in cardboard box\n\u003c/PRED\u003e","video":"14341704067893339023.mp4"}
+{"uid":"6382754169457778153","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the wire roll to the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the wire roll to the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the wire roll to the carton\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 wire roll to the carton\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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table 9- pick up the apple on the table 10- place the tissue box in the carton 11- pick up the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the wire roll to the carton\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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table 9- pick up the apple on the table 10- place the tissue box in the carton 11- pick up the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the wire roll to the carton 2- Put the lan cable in cardboard box 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the wire roll to the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"622357751034953017.mp4"}
+{"uid":"3727512100087440700","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":"14523911404866774498.mp4"}
+{"uid":"9502316764394086702","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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the sponge in cardboard box 2- pick up the white object on the table 3- pick up the apple on the table 4- place the tissue box in the carton 5- pick up 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 sponge in cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the sponge in 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: Put the sponge in cardboard 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 cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the sponge in 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the box 2- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar Q: immediate next step? \u003cPRED\u003eA: Put the sponge in cardboard box\n\u003c/PRED\u003e","video":"4945391951333088107.mp4"}
+{"uid":"11636287935356529723","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolates on the table 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":"16019157818720436426.mp4"}
+{"uid":"705885296490332145","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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table 9- pick up the apple on the table 10- place the tissue box in the carton Q: immediate next step? \u003cPRED\u003eA: pick up the packet on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up tissue box on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up 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: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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table 9- pick up the apple on the table 10- place the tissue box in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the packet on the table 2- pick up the cable on the table 3- Put the lan cable in cardboard box 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up 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":"10292254054400283983.mp4"}
+{"uid":"1828098031016422649","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the black glass in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the black glass in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11736470507318548297.mp4"}
+{"uid":"17387012217011965679","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 sponge in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the sponge in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the sponge in the carton 2- pick up the cable on the table 3- pick up the white object on the table 4- pick up the apple on the table 5- place the tissue box in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the sponge in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the box 2- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar Q: immediate next step? \u003cPRED\u003eA: Put the sponge in the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the sponge in the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the sponge in the carton\n\u003c/PRED\u003e","video":"15171014071802817780.mp4"}
+{"uid":"12705060965712716563","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the lan cable in cardboard 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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table 9- pick up the apple on the table 10- place the tissue box in the carton 11- pick up the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the lan cable in cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the lan cable in cardboard 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 lan cable in cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the lan cable in 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the box 2- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table 9- pick up the apple on the table 10- place the tissue box in the carton 11- pick up the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the lan cable in cardboard box 2- Put the lan cable in cardboard box 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the lan cable in 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":"1768293796500999409.mp4"}
+{"uid":"8452928958608879473","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the tissue box in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the tissue box in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16885283499974855778.mp4"}
+{"uid":"5383712899102372661","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cap on 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":"10007953285550825338.mp4"}
+{"uid":"11373856978263180011","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":"3630128672859256963.mp4"}
+{"uid":"2725835121673996217","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black pen in a pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6886941105588384246.mp4"}
+{"uid":"18229415508435355679","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: place the apple in the carton\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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table Q: immediate next step? \u003cPRED\u003eA: place the apple in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the carton\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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the carton 2- place the tissue box in the carton 3- pick up the packet on the table 4- pick up the cable on the table 5- Put the lan cable in cardboard box\n\u003c/PRED\u003e","video":"942295895741258218.mp4"}
+{"uid":"2554072809277153588","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo to next 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":"1066797489002713397.mp4"}
+{"uid":"11129761275656257578","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the wire roll in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the wire roll in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15936040921659909598.mp4"}
+{"uid":"7540956693447886171","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the paper in a container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1203828562040950277.mp4"}
+{"uid":"17191435802352587523","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the fork 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":"5353895527501934176.mp4"}
+{"uid":"1256683973981795200","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white object in 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: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the white object in cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white object in cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the white object in 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the box 2- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white object in cardboard box 2- place the tissue box in the carton 3- pick up the packet on the table 4- pick up the cable on the table 5- Put the lan cable in cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the white object in cardboard 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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table Q: immediate next step? \u003cPRED\u003eA: Put the white object in cardboard box\n\u003c/PRED\u003e","video":"14315043706047421182.mp4"}
+{"uid":"8708005931198744578","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrestack the cup 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":"14243356117300437609.mp4"}
+{"uid":"9719292335266693717","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl in the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the box 2- Open the carton Q: immediate next step? \u003cPRED\u003eA: place the bowl in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: place the bowl in the carton\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- Open the carton Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl in the carton 2- pick the black object on the table 3- pick up sanitizer jar 4- pick up the scrubber on the table 5- pick up the cable on the table\n\u003c/PRED\u003e","video":"17514083397594620209.mp4"}
+{"uid":"1560991130679892557","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":"12264541873938931329.mp4"}
+{"uid":"2558051474617799159","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the strainer towards 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":"16949313201494690940.mp4"}
+{"uid":"13710042816094979390","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoons 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":"12348889526520841425.mp4"}
+{"uid":"816600144860123735","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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table Q: immediate next step? \u003cPRED\u003eA: Put the apple in cardboard 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 cardboard 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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in cardboard box 2- pick up the packet on the table 3- pick up the cable on the table 4- Put the lan cable in cardboard box 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in 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 the apple in cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in 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":"727199920523588189.mp4"}
+{"uid":"14025213500722351870","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow sugar candy in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18158940270920427421.mp4"}
+{"uid":"4581034997268110801","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards 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: Move towards the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take orange pels from the desk and take them to the compostables bin. last 20 steps: 1- Move your arm towards the orange peel 2- Pick up the orange peel Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the bin 2- Release the orange peel in the bin 3- go away from the bin 4- Move towards the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take orange pels from the desk and take them to the compostables bin Q: immediate next step? \u003cPRED\u003eA: Move towards the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards 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: take orange pels from the desk and take them to the compostables bin. last 20 steps: 1- Move your arm towards the orange peel 2- Pick up the orange peel Q: immediate next step? \u003cPRED\u003eA: Move towards the bin\n\u003c/PRED\u003e","video":"12445418562677990590.mp4"}
+{"uid":"10073257409613615797","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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the cable on the table 2- pick up the white object on the table 3- pick up the apple on the table 4- place the tissue box in the carton 5- pick up the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the cable on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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: pick up the cable on the table\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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table Q: immediate next step? \u003cPRED\u003eA: pick up the cable on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the cable on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 cable on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the cable on the table\n\u003c/PRED\u003e","video":"5229735471031493891.mp4"}
+{"uid":"15911881819626631359","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic bottle in cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the plastic bottle in 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":"5035031812916895399.mp4"}
+{"uid":"11196454668864025705","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 Q: next 5 steps? \u003cPRED\u003eA: 1- pick the bowl on the table 2- pick the black object on the table 3- pick up sanitizer jar 4- pick up the scrubber on the table 5- pick up the cable on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the bowl on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: pick the bowl on the table\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: pick the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the bowl on the table\n\u003c/PRED\u003e","video":"14027987472904282518.mp4"}
+{"uid":"14429418064698770792","text":"\u003ctask:success:discrete:True\u003e\npick up the white 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the white object on the table\n\u003c/PRED\u003e","video":"9484075586918697061.mp4"}
+{"uid":"16171145926587169102","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green glass out of the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11180847256698476694.mp4"}
+{"uid":"2556593128821149951","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bowl in cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl in cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bowl in 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the box 2- Open the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl in cardboard box 2- pick up sanitizer jar 3- pick up the scrubber on the table 4- pick up the cable on the table 5- pick up the white object on the table\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 cardboard 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- Open the carton Q: immediate next step? \u003cPRED\u003eA: Put the bowl in cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bowl in 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":"8745975064904679749.mp4"}
+{"uid":"14555203609958314068","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take orange pels from the desk and take them to the compostables bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm towards the orange peel 2- Pick up the orange peel 3- Move towards the bin 4- Release the orange peel in the bin 5- go away from the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm towards the orange peel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take orange pels from the desk and take them to the compostables bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move your arm towards the orange peel\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move your arm towards the orange peel\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take orange pels from the desk and take them to the compostables bin Q: immediate next step? \u003cPRED\u003eA: Move your arm towards the orange peel\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm towards the orange 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm towards the orange peel\n\u003c/PRED\u003e","video":"13825048192529687470.mp4"}
+{"uid":"15853672276713535184","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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table 9- pick up the apple on the table 10- place the tissue box in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Place the wipe packet in the carton 2- pick up the cable on the table 3- Put the lan cable in cardboard box 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the wipe packet in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the wipe packet in the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the wipe packet in the carton\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: Place the wipe packet in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the wipe packet in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the box 2- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table 9- pick up the apple on the table 10- place the tissue box in the carton Q: immediate next step? \u003cPRED\u003eA: Place the wipe packet in the carton\n\u003c/PRED\u003e","video":"7166922514408752745.mp4"}
+{"uid":"14671147610710468119","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the pen stand in cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the pen stand in 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":"9821587445178061067.mp4"}
+{"uid":"9420404357821505282","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the white cube to carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the white cube to carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2746984378241328347.mp4"}
+{"uid":"10796790800271255376","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up 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":"625173084499081099.mp4"}
+{"uid":"3492722651036610599","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":"10542725261137824613.mp4"}
+{"uid":"6959624740480238850","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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table Q: immediate next step? \u003cPRED\u003eA: Place the sanitizer in the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sanitizer in the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sanitizer in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sanitizer in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: Place the sanitizer in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sanitizer in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sanitizer in the carton 2- pick up the scrubber on the table 3- pick up the cable on the table 4- pick up the white object on the table 5- pick up the apple on the table\n\u003c/PRED\u003e","video":"14323272177357323049.mp4"}
+{"uid":"12005812804711761734","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2323724114865431884.mp4"}
+{"uid":"10851072496943913670","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pink marker in pink marker 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":"16177220843279259722.mp4"}
+{"uid":"18173946631957801302","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6425393648652893955.mp4"}
+{"uid":"16278019394462900082","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\u003ctask:planning:freeform\u003e\ncurrent goal is: take orange pels from the desk and take them to the compostables bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take orange pels from the desk and take them to the compostables bin. last 20 steps: 1- Move your arm towards the orange peel 2- Pick up the orange peel 3- Move towards the bin 4- Release the orange peel in the bin 5- go away from the bin 6- Move towards the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take orange pels from the desk and take them to the compostables bin. last 20 steps: 1- Move your arm towards the orange peel 2- Pick up the orange peel 3- Move towards the bin 4- Release the orange peel in the bin 5- go away from the bin 6- Move towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"11503190302997830752.mp4"}
+{"uid":"3151565760024798199","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the black wire in cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the black wire in 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":"8995092140537022618.mp4"}
+{"uid":"9309652326827349076","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black object on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black 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:success:discrete:False\u003e\npick the black 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black object on the table\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: pick the black object on the table\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- Open the carton 3- place the bowl in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black object on the table 2- pick up sanitizer jar 3- pick up the scrubber on the table 4- pick up the cable on the table 5- pick up the white object on the table\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- Open the carton 3- place the bowl in the carton Q: immediate next step? \u003cPRED\u003eA: pick the black object on the table\n\u003c/PRED\u003e","video":"13466635315688730221.mp4"}
+{"uid":"8341059227363595927","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packets in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18298435218548404672.mp4"}
+{"uid":"5896976110947980899","text":"\u003ctask:success:discrete:True\u003e\nPlace the wipe packet in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the wipe packet in the carton\n\u003c/PRED\u003e","video":"4124629350256551426.mp4"}
+{"uid":"10659808119313211911","text":"\u003ctask:success:discrete:True\u003e\nPut the bowl in 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 the bowl in cardboard box\n\u003c/PRED\u003e","video":"16094604074516498198.mp4"}
+{"uid":"18105769617681277090","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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table 9- pick up the apple on the table 10- place the tissue box in the carton 11- pick up the packet on the table 12- pick up the cable on the table Q: immediate next step? \u003cPRED\u003eA: Put the lan cable in cardboard 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 lan cable in cardboard 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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table 9- pick up the apple on the table 10- place the tissue box in the carton 11- pick up the packet on the table 12- pick up the cable on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the lan cable in cardboard box 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the lan cable in 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 the lan cable in cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the lan cable in cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the lan cable in 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":"1056477707963296901.mp4"}
+{"uid":"593536705173019988","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the scrubber on the table\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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the scrubber on the table 2- pick up the cable on the table 3- pick up the white object on the table 4- pick up the apple on the table 5- place the tissue box in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the scrubber on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 scrubber on the table\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: pick up the scrubber on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the scrubber on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar Q: immediate next step? \u003cPRED\u003eA: pick up the scrubber on the table\n\u003c/PRED\u003e","video":"9221182184026550120.mp4"}
+{"uid":"4118366042985547323","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the white cube to carton\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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white cube to carton 2- pick up the apple on the table 3- place the tissue box in the carton 4- pick up the packet on the table 5- pick up the cable on the table\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: Place the white cube to carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white cube to carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the white cube to carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the box 2- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table Q: immediate next step? \u003cPRED\u003eA: Place the white cube to carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white cube to carton\n\u003c/PRED\u003e","video":"599986714369209559.mp4"}
+{"uid":"6081773052344402833","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":"12938310327581507095.mp4"}
+{"uid":"15101581832866768277","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take orange pels from the desk and take them to the compostables bin. last 20 steps: 1- Move your arm towards the orange peel 2- Pick up the orange peel 3- Move towards the bin Q: immediate next step? \u003cPRED\u003eA: Release the orange peel in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take orange pels from the desk and take them to the compostables bin. last 20 steps: 1- Move your arm towards the orange peel 2- Pick up the orange peel 3- Move towards the bin Q: next 5 steps? \u003cPRED\u003eA: 1- Release the orange peel in the bin 2- go away from the bin 3- Move towards the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the orange peel 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the orange peel in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take orange pels from the desk and take them to the compostables bin Q: immediate next step? \u003cPRED\u003eA: Release the orange peel in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the orange peel in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the orange peel 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","video":"18444714107572595429.mp4"}
+{"uid":"14271114479593378194","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the cable on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the cable on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\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 roll to the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the wire roll to the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16065249005856777631.mp4"}
+{"uid":"17916589824018049987","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: pick up tissue box on the table\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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table 9- pick up the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the tissue box in the carton 2- pick up the packet on the table 3- pick up the cable on the table 4- Put the lan cable in cardboard box 5- 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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table 9- pick up the apple on the table Q: immediate next step? \u003cPRED\u003eA: place the tissue box in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tissue box in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tissue box in the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up tissue box on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up 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:affordance:discriminative:discrete:True\u003e\nplace the tissue box in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up tissue box on the table\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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table 9- pick up the apple on the table Q: immediate next step? \u003cPRED\u003eA: pick up tissue box on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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: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: place the tissue box in the carton\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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table 9- pick up the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up tissue box on the table 2- pick up the packet on the table 3- pick up the cable on the table 4- Put the lan cable in cardboard box 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tissue box in the carton\n\u003c/PRED\u003e","video":"11248356166379568256.mp4"}
+{"uid":"17917722988806268386","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo towards 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":"3283483451381217682.mp4"}
+{"uid":"4081949350819755810","text":"\u003ctask:success:discrete:True\u003e\nOpen the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the carton\n\u003c/PRED\u003e","video":"7698870677397694617.mp4"}
+{"uid":"1773876611082586231","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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the apple on the table 2- place the tissue box in the carton 3- pick up the packet on the table 4- pick up the cable on the table 5- Put the lan cable in cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up 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\npick up 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the box 2- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table Q: immediate next step? \u003cPRED\u003eA: pick up the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the apple on the table\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: pick up the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the apple on the table\n\u003c/PRED\u003e","video":"1144953266416252309.mp4"}
+{"uid":"3043549642373295278","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put yellow packet in cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the cable on the table\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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table 9- pick up the apple on the table 10- place the tissue box in the carton 11- pick up the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the cable on the table 2- Put the lan cable in cardboard box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut yellow packet in cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the cable on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table 9- pick up the apple on the table 10- place the tissue box in the carton 11- pick up the packet on the table Q: immediate next step? \u003cPRED\u003eA: pick up the cable on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut yellow packet in cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the cable on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table 9- pick up the apple on the table 10- place the tissue box in the carton 11- pick up the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put yellow packet in cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the cable on the table\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: pick up the cable on the table\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 yellow packet in cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put yellow packet in cardboard 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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table 9- pick up the apple on the table 10- place the tissue box in the carton 11- pick up the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put yellow packet in cardboard box 2- Put the lan cable in cardboard box 3- done\n\u003c/PRED\u003e","video":"11412365286382657359.mp4"}
+{"uid":"7180848916674611965","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen 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":"17687388312396017515.mp4"}
+{"uid":"6381107753066936806","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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the black wire in cardboard box 2- pick up the apple on the table 3- place the tissue box in the carton 4- pick up the packet on the table 5- pick up the cable on the table\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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table Q: immediate next step? \u003cPRED\u003eA: Put the black wire in cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the black wire in 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 the black wire in cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the black wire in 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: Put the black wire in cardboard 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 cardboard box\n\u003c/PRED\u003e","video":"11362662220651058344.mp4"}
+{"uid":"1864634262039603712","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chess piece 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":"5094027052834531319.mp4"}
+{"uid":"11262301162111809981","text":"\u003ctask:success:discrete:True\u003e\nPick up the orange peel Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the orange peel\n\u003c/PRED\u003e","video":"16743811076524746823.mp4"}
+{"uid":"8491111109199837262","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":"14967493263913304035.mp4"}
+{"uid":"10244673975757884337","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the scrubber on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the scrubber on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11428779626982170310.mp4"}
+{"uid":"3723168136108643566","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the sponge in cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the sponge in 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":"5784279064301764650.mp4"}
+{"uid":"680842986775017345","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the bowl on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3947708217918410557.mp4"}
+{"uid":"376388138866621891","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the papers in the bacsket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\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 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":"9360952017976361590.mp4"}
+{"uid":"14889513540789614449","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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table 9- pick up the apple on the table 10- place the tissue box in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Put yellow packet in cardboard box 2- pick up the cable on the table 3- Put the lan cable in cardboard box 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut yellow packet in 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: Put yellow packet in cardboard 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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table 8- pick up the white object on the table 9- pick up the apple on the table 10- place the tissue box in the carton Q: immediate next step? \u003cPRED\u003eA: Put yellow packet in cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut yellow packet in 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: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put yellow packet in cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put yellow packet in cardboard box\n\u003c/PRED\u003e","video":"17543896661080430588.mp4"}
+{"uid":"8370679983060231860","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen 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: 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: Open the cardboard 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 cardboard 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- Open the cardboard box 2- place the bowl in the carton 3- pick the black object on the table 4- pick up sanitizer jar 5- pick up the scrubber on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen 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":"1006941925289080047.mp4"}
+{"uid":"5460552427254169848","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"12579787783322326021.mp4"}
+{"uid":"1687302737725867753","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take orange pels from the desk and take them to the compostables bin. last 20 steps: 1- Move your arm towards the orange peel Q: immediate next step? \u003cPRED\u003eA: Pick up the orange peel\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take orange pels from the desk and take them to the compostables bin. last 20 steps: 1- Move your arm towards the orange peel Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the orange peel 2- Move towards the bin 3- Release the orange peel in the bin 4- go away from the bin 5- Move towards the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the orange peel\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the orange peel\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take orange pels from the desk and take them to the compostables bin Q: immediate next step? \u003cPRED\u003eA: Pick up the orange peel\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the orange 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:success:discrete:False\u003e\nPick up the orange 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":"3433663436692539409.mp4"}
+{"uid":"6913089506854062217","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the cable on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the cable on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10084196824375122067.mp4"}
+{"uid":"8552839508179114102","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the cloth 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":"3117193861335359365.mp4"}
+{"uid":"5947390304439241899","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":"16629793165984827259.mp4"}
+{"uid":"1045374964134889120","text":"\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take orange pels from the desk and take them to the compostables bin. last 20 steps: 1- Move your arm towards the orange peel 2- Pick up the orange peel 3- Move towards the bin 4- Release the orange peel in the bin 5- go away from the bin Q: immediate next step? \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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take orange pels from the desk and take them to the compostables bin Q: immediate next step? \u003cPRED\u003eA: Move towards the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take orange pels from the desk and take them to the compostables bin. last 20 steps: 1- Move your arm towards the orange peel 2- Pick up the orange peel 3- Move towards the bin 4- Release the orange peel in the bin 5- go away from the bin Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the table 2- done\n\u003c/PRED\u003e","video":"8114805576947220936.mp4"}
+{"uid":"659085309799030845","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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table Q: immediate next step? \u003cPRED\u003eA: Put the plastic bottle in cardboard 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 plastic bottle in cardboard 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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic bottle in cardboard box 2- pick up the cable on the table 3- pick up the white object on the table 4- pick up the apple on the table 5- place the tissue box in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic bottle in 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 the plastic bottle in 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 the plastic bottle in cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic bottle in cardboard box\n\u003c/PRED\u003e","video":"13359378546198919949.mp4"}
+{"uid":"17435457818558113509","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go away from the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take orange pels from the desk and take them to the compostables bin Q: immediate next step? \u003cPRED\u003eA: go away from the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo away from 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take orange pels from the desk and take them to the compostables bin. last 20 steps: 1- Move your arm towards the orange peel 2- Pick up the orange peel 3- Move towards the bin 4- Release the orange peel in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- go away from the bin 2- Move towards the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo away from 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: take orange pels from the desk and take them to the compostables bin. last 20 steps: 1- Move your arm towards the orange peel 2- Pick up the orange peel 3- Move towards the bin 4- Release the orange peel in the bin Q: immediate next step? \u003cPRED\u003eA: go away from the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go away from the bin\n\u003c/PRED\u003e","video":"18196436784099424413.mp4"}
+{"uid":"8084367304923632960","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16313993441503057206.mp4"}
+{"uid":"12729055745134989173","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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the white object on the table 2- pick up the apple on the table 3- place the tissue box in the carton 4- pick up the packet on the table 5- pick up the cable on the table\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- Open the carton 3- place the bowl in the carton 4- pick the black object on the table 5- pick up sanitizer jar 6- pick up the scrubber on the table 7- pick up the cable on the table Q: immediate next step? \u003cPRED\u003eA: pick up the white object on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the white object on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the white 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the white object on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the white 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: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick up the white object on the table\n\u003c/PRED\u003e","video":"12778231552507775040.mp4"}
+{"uid":"18423285954462801289","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":"8920341569809022681.mp4"}
+{"uid":"8520175719496141635","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":"7604871459357563962.mp4"}
+{"uid":"14140509190656030056","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the black glass in the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the black glass in the carton\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- Open the carton 3- place the bowl in the carton Q: immediate next step? \u003cPRED\u003eA: Place the black glass in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the black glass in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: Place the black glass in the carton\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- Open the carton 3- place the bowl in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Place the black glass in the carton 2- pick up sanitizer jar 3- pick up the scrubber on the table 4- pick up the cable on the table 5- pick up the white object on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the black glass in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8563369701675374822.mp4"}
+{"uid":"17360895683986049203","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":"12655735482596611982.mp4"}
+{"uid":"16885428113051714408","text":"\u003ctask:success:discrete:True\u003e\nPut the tissue box in 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 the tissue box in cardboard box\n\u003c/PRED\u003e","video":"8105811815669134656.mp4"}
+{"uid":"5073551887852825917","text":"\u003ctask:success:discrete:True\u003e\nPut the apple in 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 the apple in cardboard box\n\u003c/PRED\u003e","video":"8997530173666923834.mp4"}
+{"uid":"770489765173835283","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13810524079487665336.mp4"}
+{"uid":"11883933402272656047","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":"376652201736876522.mp4"}
+{"uid":"955154605172006659","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black marker near the white 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":"14009079093890812441.mp4"}
+{"uid":"3851506300020623770","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12793243819359903540.mp4"}
+{"uid":"6088160245559043425","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pen stand in cardboard 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 stand in cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pen stand in 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the box 2- Open the carton 3- place the bowl in the carton Q: immediate next step? \u003cPRED\u003eA: Put the pen stand in cardboard 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- Open the carton 3- place the bowl in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pen stand in cardboard box 2- pick up the scrubber on the table 3- pick up the cable on the table 4- pick up the white object on the table 5- pick up the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pen stand in 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: Put the pen stand in cardboard box\n\u003c/PRED\u003e","video":"7826868368347905191.mp4"}
+{"uid":"15551236415225934931","text":"\u003ctask:success:discrete:True\u003e\nPlace the sanitizer in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the sanitizer in the carton\n\u003c/PRED\u003e","video":"15848625709375672555.mp4"}
+{"uid":"13839112276381651078","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":"15762623567953925508.mp4"}
+{"uid":"11667941623684271009","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chips bag on counter from tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6662666418571943626.mp4"}
+{"uid":"2973929670458388969","text":"\u003ctask:success:discrete:False\u003e\npick up boiled egg Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 hard boil egg and a fork . last 20 steps: 1- open refrigerator Q: immediate next step? \u003cPRED\u003eA: pick up boiled egg\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up boiled egg\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a hard boil egg and a fork Q: immediate next step? \u003cPRED\u003eA: pick up boiled egg\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up boiled egg Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 boiled egg\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a hard boil egg and a fork . last 20 steps: 1- open refrigerator Q: next 5 steps? \u003cPRED\u003eA: 1- pick up boiled egg 2- put boiled egg on the table 3- put cup on the table 4- put cup upright 5- put boiled egg in the cup\n\u003c/PRED\u003e","video":"5634708098220256249.mp4"}
+{"uid":"7147491344085563014","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the middle 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":"12891939565725393135.mp4"}
+{"uid":"1578767643861619985","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut orange 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":"990647537776362578.mp4"}
+{"uid":"13661378371101010162","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":"198577138965498932.mp4"}
+{"uid":"1296269357966185127","text":"\u003ctask:success:discrete:False\u003e\nopen refrigerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open refrigerator\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a hard boil egg and a fork . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open refrigerator 2- pick up boiled egg 3- put boiled egg on the table 4- put cup on the table 5- put cup upright\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a hard boil egg and a fork Q: immediate next step? \u003cPRED\u003eA: open refrigerator\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open refrigerator\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a hard boil egg and a fork . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open refrigerator\n\u003c/PRED\u003e","video":"2362575687631852645.mp4"}
+{"uid":"11902402383662350235","text":"\u003ctask:success:discrete:True\u003e\nput boiled egg on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put boiled egg on the table\n\u003c/PRED\u003e","video":"9541638028434812800.mp4"}
+{"uid":"14979550936544917898","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a hard boil egg and a fork . last 20 steps: 1- open refrigerator 2- pick up boiled egg 3- put boiled egg on the table 4- put cup on the table 5- put cup upright Q: next 5 steps? \u003cPRED\u003eA: 1- put boiled egg in the cup 2- put fork in the cup 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput boiled egg in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a hard boil egg and a fork Q: immediate next step? \u003cPRED\u003eA: put boiled egg in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put boiled egg in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput boiled egg in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a hard boil egg and a fork . last 20 steps: 1- open refrigerator 2- pick up boiled egg 3- put boiled egg on the table 4- put cup on the table 5- put cup upright Q: immediate next step? \u003cPRED\u003eA: put boiled egg in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put boiled egg in the cup\n\u003c/PRED\u003e","video":"10877007049615865766.mp4"}
+{"uid":"17326868792991991176","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":"14031477447331851327.mp4"}
+{"uid":"9183213525977624060","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":"7901324091084592221.mp4"}
+{"uid":"15355529212547902944","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a hard boil egg and a fork . last 20 steps: 1- open refrigerator 2- pick up boiled egg Q: next 5 steps? \u003cPRED\u003eA: 1- put boiled egg on the table 2- put cup on the table 3- put cup upright 4- put boiled egg in the cup 5- put fork in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput boiled egg on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put boiled egg on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a hard boil egg and a fork . last 20 steps: 1- open refrigerator 2- pick up boiled egg Q: immediate next step? \u003cPRED\u003eA: put boiled egg on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput boiled egg on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a hard boil egg and a fork Q: immediate next step? \u003cPRED\u003eA: put boiled egg on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put boiled egg on the table\n\u003c/PRED\u003e","video":"16949267550991909431.mp4"}
+{"uid":"1756652169553274808","text":"\u003ctask:success:discrete:True\u003e\npick up boiled egg Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 boiled egg\n\u003c/PRED\u003e","video":"37374407561596762.mp4"}
+{"uid":"15425426014893692641","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a hard boil egg and a fork . last 20 steps: 1- open refrigerator 2- pick up boiled egg 3- put boiled egg on the table 4- put cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put cup upright 2- put boiled egg in the cup 3- put fork in the cup 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a hard boil egg and a fork Q: immediate next step? \u003cPRED\u003eA: put cup upright\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup upright\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup upright\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a hard boil egg and a fork . last 20 steps: 1- open refrigerator 2- pick up boiled egg 3- put boiled egg on the table 4- put cup on the table Q: immediate next step? \u003cPRED\u003eA: put cup upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cup upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cup upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5894796007292814691.mp4"}
+{"uid":"9100216517552811677","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put fork in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put fork in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput fork in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a hard boil egg and a fork Q: immediate next step? \u003cPRED\u003eA: put fork in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a hard boil egg and a fork . last 20 steps: 1- open refrigerator 2- pick up boiled egg 3- put boiled egg on the table 4- put cup on the table 5- put cup upright 6- put boiled egg in the cup Q: immediate next step? \u003cPRED\u003eA: put fork in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput fork in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a hard boil egg and a fork . last 20 steps: 1- open refrigerator 2- pick up boiled egg 3- put boiled egg on the table 4- put cup on the table 5- put cup upright 6- put boiled egg in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put fork in the cup 2- done\n\u003c/PRED\u003e","video":"10319861070871558373.mp4"}
+{"uid":"468504791485002905","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":"13564584081022808625.mp4"}
+{"uid":"2535584136589615255","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace lid 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":"13533294000649498153.mp4"}
+{"uid":"15451921746879835770","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab me a hard boil egg and a fork Q: immediate next step? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a hard boil egg and a fork . last 20 steps: 1- open refrigerator 2- pick up boiled egg 3- put boiled egg on the table 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab me a hard boil egg and a fork . last 20 steps: 1- open refrigerator 2- pick up boiled egg 3- put boiled egg on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on the table 2- put cup upright 3- put boiled egg in the cup 4- put fork in the cup 5- done\n\u003c/PRED\u003e","video":"14213105834596154271.mp4"}
+{"uid":"1343913436843131649","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open refrigerator\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen refrigerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4430724792426457817.mp4"}
+{"uid":"12675083178691151140","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- put coke can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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 can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e","video":"17379511024508819070.mp4"}
+{"uid":"7626912797732646320","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease 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":"1616107829394915992.mp4"}
+{"uid":"990419440025591877","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pepsi can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put pepsi can on the table 2- place can on the table 3- place can on the table 4- put coke can on the table 5- place can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pepsi can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table Q: immediate next step? \u003cPRED\u003eA: put pepsi can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put pepsi can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pepsi 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 pepsi can on the table\n\u003c/PRED\u003e","video":"8817038971372936906.mp4"}
+{"uid":"1480804694747100748","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table 3- place can on the table Q: immediate next step? \u003cPRED\u003eA: Put the orange can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table 3- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange can on the table 2- place can on the table 3- put coke can on the table 4- place can on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the orange can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange can on the table\n\u003c/PRED\u003e","video":"12367320793585236556.mp4"}
+{"uid":"1251434917832873657","text":"\u003ctask:success:discrete:False\u003e\nuplift the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: uplift the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nuplift the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place the pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- uplift the pen stand 2- put the pen on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: uplift the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty pen holder Q: immediate next step? \u003cPRED\u003eA: uplift the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: uplift the pen stand\n\u003c/PRED\u003e","video":"6181306106781523261.mp4"}
+{"uid":"7848391733288549617","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":"15447707776105979739.mp4"}
+{"uid":"7288359855152443362","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put green can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput green can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table Q: immediate next step? \u003cPRED\u003eA: put green can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput green can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put green can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- put coke can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put green can on the table\n\u003c/PRED\u003e","video":"1025770930374247365.mp4"}
+{"uid":"3087878457407105253","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the spoon on the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2985213938200925070.mp4"}
+{"uid":"9100013190972615882","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place the pen on the table 2- uplift the pen stand 3- put the pen 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 pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place the pen on the table 2- uplift the pen stand 3- put the pen on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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":"13859453063395731876.mp4"}
+{"uid":"5802699733595191910","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10086332663956681509.mp4"}
+{"uid":"16974029471581216480","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put coke can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put coke can on the table 2- place can on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put coke can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put coke can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput coke can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table Q: immediate next step? \u003cPRED\u003eA: put coke can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput coke 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":"5398919485954846082.mp4"}
+{"uid":"5686210348396671163","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the 7 up 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 7 up can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the 7 up can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table 3- place can on the table 4- place can on the table Q: immediate next step? \u003cPRED\u003eA: Put the 7 up can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the 7 up can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 7 up can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table 3- place can on the table 4- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the 7 up can on the table 2- put coke can on the table 3- place can on the table 4- done\n\u003c/PRED\u003e","video":"5564543133420481206.mp4"}
+{"uid":"5057419478573455360","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put orange can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table 3- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange can on the table 2- place can on the table 3- put coke can on the table 4- place can on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange 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 orange can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table 3- place can on the table Q: immediate next step? \u003cPRED\u003eA: put orange can on the table\n\u003c/PRED\u003e","video":"2457561462599358975.mp4"}
+{"uid":"1321827127636610641","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table 6- put coke can on the table Q: immediate next step? \u003cPRED\u003eA: Put the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table 6- put coke can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red bull can on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red bull can on the table\n\u003c/PRED\u003e","video":"8609748318666232600.mp4"}
+{"uid":"7283865643876538576","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red 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":"13902425167527385091.mp4"}
+{"uid":"16390334715706146927","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":"5339849276157033555.mp4"}
+{"uid":"2487906599440325193","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table 3- place can on the table Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table 3- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place can on the table 2- place can on the table 3- put coke can on the table 4- place can on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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":"7262527631197377092.mp4"}
+{"uid":"13153005598744059922","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the orange can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the orange 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 orange can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange 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":"14063875994182560050.mp4"}
+{"uid":"5844054938387947846","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty pen holder Q: immediate next step? \u003cPRED\u003eA: put the pens on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pens on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pens on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 pens on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the pens on the table 2- uplift the pen stand 3- put the pen on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pens on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the pens on the table\n\u003c/PRED\u003e","video":"4677103316957655186.mp4"}
+{"uid":"13786010756548856348","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nHang the bag to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11090638740837206768.mp4"}
+{"uid":"16849630978470379557","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14237968142985168666.mp4"}
+{"uid":"2801068028418645581","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place the pen on the table 2- uplift the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put all the pencils on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place the pen on the table 2- uplift the pen stand Q: immediate next step? \u003cPRED\u003eA: put all the pencils on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty pen holder Q: immediate next step? \u003cPRED\u003eA: put all the pencils on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put all the pencils on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put all the pencils on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput all the pencils on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 all the pencils on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9988629059291453155.mp4"}
+{"uid":"6528937706182302879","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white 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":"14877724902815248438.mp4"}
+{"uid":"2244324431152285206","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep the glass 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":"6749856577074212258.mp4"}
+{"uid":"11102857924481178207","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":"7758161462696891266.mp4"}
+{"uid":"14587832003347216646","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":"9691511711320778584.mp4"}
+{"uid":"2843219042477570158","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the coke can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the coke can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the coke can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the coke can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the coke can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the coke can on the table 2- place can on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table Q: immediate next step? \u003cPRED\u003eA: Put the coke can on the table\n\u003c/PRED\u003e","video":"4480091455421806957.mp4"}
+{"uid":"5330438475744578191","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1187632764640926788.mp4"}
+{"uid":"7476420404055225249","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table 3- place can on the table 4- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place can on the table 2- put coke can on the table 3- place can on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table 3- place can on the table 4- place can on the table Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e","video":"14910549543023541270.mp4"}
+{"uid":"4929203192467908640","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2336170334896073221.mp4"}
+{"uid":"17586033185841906662","text":"\u003ctask:success:discrete:True\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place the pen on the table 2- uplift the pen stand 3- place 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: empty pen holder. last 20 steps: 1- place the pen on the table 2- uplift the pen stand 3- place the pen on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16486332272799641373.mp4"}
+{"uid":"7666036279620633596","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":"5650393812919640964.mp4"}
+{"uid":"5075576387703459798","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the blue can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue 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 blue can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table Q: immediate next step? \u003cPRED\u003eA: Put the blue can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue can on the table 2- place can on the table 3- place can on the table 4- put coke can on the table 5- place can on the table\n\u003c/PRED\u003e","video":"9814189151454835791.mp4"}
+{"uid":"17802423489826085966","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table 6- put coke can on the table Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table 6- put coke can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place can on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e","video":"14763787121061865002.mp4"}
+{"uid":"8945124056618342038","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":"6017573109379975877.mp4"}
+{"uid":"11676834658698441336","text":"\u003ctask:success:discrete:True\u003e\nput all the pencils on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 pen holder. last 20 steps: 1- place the pen on the table 2- uplift the pen stand 3- put all the pencils on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty 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 all the pencils on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place the pen on the table 2- uplift the pen stand 3- put all the pencils on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"4532016642579114014.mp4"}
+{"uid":"4774060635611528254","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the tray box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2834495546190456689.mp4"}
+{"uid":"13306850112907949127","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: empty pen holder Q: immediate next step? \u003cPRED\u003eA: put the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place the pen on the table 2- uplift the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place the pen on the table 2- uplift the pen stand Q: immediate next step? \u003cPRED\u003eA: put the pen on the table\n\u003c/PRED\u003e","video":"6088298655483460265.mp4"}
+{"uid":"13578513723565517277","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10103371821785984261.mp4"}
+{"uid":"58128651848518439","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the blue object in the right plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7884281787879671319.mp4"}
+{"uid":"10739667453202376603","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table 6- put coke can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table 6- put coke can on the table Q: immediate next step? \u003cPRED\u003eA: put redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on the table\n\u003c/PRED\u003e","video":"9782189713953002050.mp4"}
+{"uid":"3925119614152317276","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- uplift the pen stand 3- put the pen 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 pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17342254073832583483.mp4"}
+{"uid":"16469489833493726823","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place the pen on the table 2- uplift the pen stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: 1- place the pen on the table 2- uplift the pen stand Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"15238185164957374765.mp4"}
+{"uid":"1719042039740881999","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput knife in 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":"6779655387505128012.mp4"}
+{"uid":"8393666081888009371","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13112357377370185923.mp4"}
+{"uid":"253448221101665652","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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 can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place can on the table 2- place can on the table 3- place can on the table 4- put coke can on the table 5- place can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e","video":"3926463457163980385.mp4"}
+{"uid":"1071931794109915272","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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 can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place can on the table 2- place can on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- place can on the table Q: immediate next step? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e","video":"1587610288936761657.mp4"}
+{"uid":"3900692044713819159","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the book on the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2615173584647882942.mp4"}
+{"uid":"4685787360177519364","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":"99250365826033637.mp4"}
+{"uid":"11733911847568756081","text":"\u003ctask:success:discrete:False\u003e\nput  pencil on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put  pencil on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put  pencil on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: empty pen holder Q: immediate next step? \u003cPRED\u003eA: put  pencil on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput  pencil on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put  pencil on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: empty pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put  pencil on the table 2- uplift the pen stand 3- put the pen on the table 4- done\n\u003c/PRED\u003e","video":"4820362983025047350.mp4"}
+{"uid":"424798925688852723","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: Put the green can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table Q: immediate next step? \u003cPRED\u003eA: Put the green can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green can on the table 2- place can on the table 3- place can on the table 4- place can on the table 5- put coke 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 green can on the table\n\u003c/PRED\u003e","video":"8407246665943688907.mp4"}
+{"uid":"7838873528727741876","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange 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":"10760397772310151536.mp4"}
+{"uid":"8051149128152377891","text":"\u003ctask:success:discrete:True\u003e\nplace the pen on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen on the table\n\u003c/PRED\u003e","video":"1828128049655907794.mp4"}
+{"uid":"17611150326464021702","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5365757152540646195.mp4"}
+{"uid":"16187309224136211927","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease 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":"7069994810343427637.mp4"}
+{"uid":"17891745307768472239","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":"1672983297329373333.mp4"}
+{"uid":"14474454645540662091","text":"\u003ctask:success:discrete:False\u003e\nput white can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table 3- place can on the table 4- place can on the table Q: immediate next step? \u003cPRED\u003eA: put white can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the cans from the rack Q: immediate next step? \u003cPRED\u003eA: put white can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the cans from the rack. last 20 steps: 1- put orange can on the table 2- place can on the table 3- place can on the table 4- place can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put white can on the table 2- put coke can on the table 3- place can on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white 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":"216671974185831183.mp4"}
+{"uid":"2685737633834372050","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":"2666510622309085113.mp4"}
+{"uid":"2968628738902510338","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":"6641660891096050201.mp4"}
+{"uid":"14338914514821869008","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace another orange 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":"2032594581235916267.mp4"}
+{"uid":"13839606823261893024","text":"\u003ctask:success:discrete:True\u003e\nput blue chip 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 blue chip packet on the table\n\u003c/PRED\u003e","video":"6820263080059350194.mp4"}
+{"uid":"3178501658778087873","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the packet into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12089201481110248134.mp4"}
+{"uid":"13378981302979285381","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"11456521123556933594.mp4"}
+{"uid":"16782967591073723485","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the toy 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":"3456153796414231924.mp4"}
+{"uid":"7139935537065139253","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black 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":"11695606923146625135.mp4"}
+{"uid":"16291870386162602377","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":"7489915222733805572.mp4"}
+{"uid":"5812072826529805722","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket 6- place the toy in the basket 7- place the toy in the basket 8- place the toy in the basket 9- place the toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy in the basket 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket 6- place the toy in the basket 7- place the toy in the basket 8- place the toy in the basket 9- place the toy in the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e","video":"4225789696612845786.mp4"}
+{"uid":"7687702481567202061","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1907537296137151856.mp4"}
+{"uid":"17256476347741047105","text":"\u003ctask:success:discrete:True\u003e\nput lite blue chip 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 lite blue chip packet on the table\n\u003c/PRED\u003e","video":"12063917614873201534.mp4"}
+{"uid":"15967323570299034870","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush the trolley 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":"16251704579309518463.mp4"}
+{"uid":"3529408884030600331","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white chip packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter. last 20 steps: 1- open drawer 2- put green packet on the table 3- put blue chip packet on the table 4- put lite blue chip packet on the table 5- put brown chip packet on the table 6- put blue chip packet on the table 7- put green chip packet on the table Q: immediate next step? \u003cPRED\u003eA: put white chip packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put white chip packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter. last 20 steps: 1- open drawer 2- put green packet on the table 3- put blue chip packet on the table 4- put lite blue chip packet on the table 5- put brown chip packet on the table 6- put blue chip packet on the table 7- put green chip packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put white chip packet on the table 2- put blue chip packet on the table 3- close drawer 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter Q: immediate next step? \u003cPRED\u003eA: put white chip packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white chip 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 white chip 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":"11586964409720625308.mp4"}
+{"uid":"8931100505735171079","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter Q: immediate next step? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter. last 20 steps: 1- open drawer 2- put green packet on the table 3- put blue chip packet on the table 4- put lite blue chip packet on the table 5- put brown chip packet on the table 6- put blue chip packet on the table 7- put green chip packet on the table 8- put white chip packet on the table 9- put blue chip packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close drawer 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter. last 20 steps: 1- open drawer 2- put green packet on the table 3- put blue chip packet on the table 4- put lite blue chip packet on the table 5- put brown chip packet on the table 6- put blue chip packet on the table 7- put green chip packet on the table 8- put white chip packet on the table 9- put blue chip packet on the table Q: immediate next step? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close drawer\n\u003c/PRED\u003e","video":"16196664274414734943.mp4"}
+{"uid":"7609616165459368439","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue chip packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue chip 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: move the chips from the drawer to the counter. last 20 steps: 1- open drawer 2- put green packet on the table 3- put blue chip packet on the table 4- put lite blue chip packet on the table 5- put brown chip packet on the table Q: immediate next step? \u003cPRED\u003eA: put blue chip packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter. last 20 steps: 1- open drawer 2- put green packet on the table 3- put blue chip packet on the table 4- put lite blue chip packet on the table 5- put brown chip packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue chip packet on the table 2- put green chip packet on the table 3- put white chip packet on the table 4- put blue chip packet on the table 5- close drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue chip 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: move the chips from the drawer to the counter Q: immediate next step? \u003cPRED\u003eA: put blue chip packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue chip packet on the table\n\u003c/PRED\u003e","video":"13395328659247638945.mp4"}
+{"uid":"14798920465963763761","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the toy 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":"11510089523303547116.mp4"}
+{"uid":"1987181773374978650","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":"6235862389913572026.mp4"}
+{"uid":"10796543115776610544","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown chip 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 brown chip 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 chip packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter. last 20 steps: 1- open drawer 2- put green packet on the table 3- put blue chip packet on the table 4- put lite blue chip packet on the table Q: immediate next step? \u003cPRED\u003eA: put brown chip packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter Q: immediate next step? \u003cPRED\u003eA: put brown chip 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 chip packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter. last 20 steps: 1- open drawer 2- put green packet on the table 3- put blue chip packet on the table 4- put lite blue chip packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put brown chip packet on the table 2- put blue chip packet on the table 3- put green chip packet on the table 4- put white chip packet on the table 5- put blue chip packet on the table\n\u003c/PRED\u003e","video":"1717208854354543434.mp4"}
+{"uid":"3442517861502115031","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the toy 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":"8147288289258554988.mp4"}
+{"uid":"575162454226995869","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter. last 20 steps: 1- open drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put green packet on the table 2- put blue chip packet on the table 3- put lite blue chip packet on the table 4- put brown chip packet on the table 5- put blue chip packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter Q: immediate next step? \u003cPRED\u003eA: put green packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put green packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput green packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput green packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter. last 20 steps: 1- open drawer Q: immediate next step? \u003cPRED\u003eA: put green packet on the table\n\u003c/PRED\u003e","video":"13773712473384254850.mp4"}
+{"uid":"491411094897189045","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket 6- place the toy in the basket 7- place the toy in the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket 6- place the toy in the basket 7- place the toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- done\n\u003c/PRED\u003e","video":"17793291661298039920.mp4"}
+{"uid":"1837504100641881393","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket 6- place the toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket 6- place the toy in the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e","video":"13221396214801056445.mp4"}
+{"uid":"13042117472015774642","text":"\u003ctask:success:discrete:True\u003e\nput blue chip 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 blue chip packet on the table\n\u003c/PRED\u003e","video":"10669652859702578003.mp4"}
+{"uid":"9879308127561560127","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue chip 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: move the chips from the drawer to the counter. last 20 steps: 1- open drawer 2- put green packet on the table 3- put blue chip packet on the table 4- put lite blue chip packet on the table 5- put brown chip packet on the table 6- put blue chip packet on the table 7- put green chip packet on the table 8- put white chip packet on the table Q: immediate next step? \u003cPRED\u003eA: put blue chip packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter Q: immediate next step? \u003cPRED\u003eA: put blue chip packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter. last 20 steps: 1- open drawer 2- put green packet on the table 3- put blue chip packet on the table 4- put lite blue chip packet on the table 5- put brown chip packet on the table 6- put blue chip packet on the table 7- put green chip packet on the table 8- put white chip packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue chip packet on the table 2- close drawer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue chip packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue chip 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 chip packet on the table\n\u003c/PRED\u003e","video":"11679294276463515913.mp4"}
+{"uid":"6393601340467222859","text":"\u003ctask:success:discrete:True\u003e\nplace the toy in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e","video":"7572294483940796311.mp4"}
+{"uid":"4076508382542994303","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange 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":"3225296284845919512.mp4"}
+{"uid":"8969210903760004125","text":"\u003ctask:success:discrete:False\u003e\nput green chip packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put green chip packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter. last 20 steps: 1- open drawer 2- put green packet on the table 3- put blue chip packet on the table 4- put lite blue chip packet on the table 5- put brown chip packet on the table 6- put blue chip packet on the table Q: immediate next step? \u003cPRED\u003eA: put green chip packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter. last 20 steps: 1- open drawer 2- put green packet on the table 3- put blue chip packet on the table 4- put lite blue chip packet on the table 5- put brown chip packet on the table 6- put blue chip packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put green chip packet on the table 2- put white chip packet on the table 3- put blue chip packet on the table 4- close drawer 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput green chip 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: move the chips from the drawer to the counter Q: immediate next step? \u003cPRED\u003eA: put green chip packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green chip packet on the table\n\u003c/PRED\u003e","video":"11811472024559134375.mp4"}
+{"uid":"5524631445727489578","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":"472499485576514537.mp4"}
+{"uid":"10615181608418118212","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put green packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput green packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16667125189154405800.mp4"}
+{"uid":"2610236874523629473","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter. last 20 steps: 1- open drawer 2- put green packet on the table 3- put blue chip packet on the table Q: immediate next step? \u003cPRED\u003eA: put lite blue chip packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput lite blue chip 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: move the chips from the drawer to the counter Q: immediate next step? \u003cPRED\u003eA: put lite blue chip packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter. last 20 steps: 1- open drawer 2- put green packet on the table 3- put blue chip packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put lite blue chip packet on the table 2- put brown chip packet on the table 3- put blue chip packet on the table 4- put green chip packet on the table 5- put white chip packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput lite blue chip 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 lite blue chip packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put lite blue chip packet on the table\n\u003c/PRED\u003e","video":"14786372118082822397.mp4"}
+{"uid":"3375798852523302357","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11271067000842420969.mp4"}
+{"uid":"327441556483007368","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e","video":"10115090920888002023.mp4"}
+{"uid":"5908444273942790756","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink 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","video":"10844091084953146928.mp4"}
+{"uid":"4988006703409022869","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":"1462816736850950036.mp4"}
+{"uid":"17410992123187491549","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open drawer 2- put green packet on the table 3- put blue chip packet on the table 4- put lite blue chip packet on the table 5- put brown chip packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter Q: immediate next step? \u003cPRED\u003eA: open drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open drawer\n\u003c/PRED\u003e","video":"2061149070681135966.mp4"}
+{"uid":"2060769401761658178","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":"16600132128931247176.mp4"}
+{"uid":"7399298089433438181","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2778301324627271560.mp4"}
+{"uid":"3616033164289249059","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put white chip packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput white chip 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":"8513163213776673414.mp4"}
+{"uid":"17730818853558357173","text":"\u003ctask:success:discrete:True\u003e\nput green chip 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 green chip packet on the table\n\u003c/PRED\u003e","video":"8806266936249419173.mp4"}
+{"uid":"599001221527946826","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":"7310871985498432911.mp4"}
+{"uid":"6892164851870166756","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter. last 20 steps: 1- open drawer 2- put green packet on the table Q: immediate next step? \u003cPRED\u003eA: put blue chip packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue chip 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: move the chips from the drawer to the counter Q: immediate next step? \u003cPRED\u003eA: put blue chip packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue chip packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter. last 20 steps: 1- open drawer 2- put green packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put blue chip packet on the table 2- put lite blue chip packet on the table 3- put brown chip packet on the table 4- put blue chip packet on the table 5- put green chip packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue chip 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 chip packet on the table\n\u003c/PRED\u003e","video":"1921334056301161151.mp4"}
+{"uid":"5721932078874905498","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e","video":"5585912357475181631.mp4"}
+{"uid":"693748381272495571","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the toy 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":"12484152822686308666.mp4"}
+{"uid":"2024610282851482859","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter. last 20 steps: 1- open drawer 2- put green packet on the table 3- put blue chip packet on the table 4- put lite blue chip packet on the table 5- put brown chip packet on the table 6- put blue chip packet on the table 7- put green chip packet on the table 8- put white chip packet on the table 9- put blue chip packet on the table 10- close drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: move the chips from the drawer to the counter. last 20 steps: 1- open drawer 2- put green packet on the table 3- put blue chip packet on the table 4- put lite blue chip packet on the table 5- put brown chip packet on the table 6- put blue chip packet on the table 7- put green chip packet on the table 8- put white chip packet on the table 9- put blue chip packet on the table 10- close 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 drawer\n\u003c/PRED\u003e","video":"743937800796671901.mp4"}
+{"uid":"8124195262447784538","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":"16087042102295872536.mp4"}
+{"uid":"13652300756776359454","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the toy 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":"11502877291467244859.mp4"}
+{"uid":"9315410465691401260","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6453433871060891341.mp4"}
+{"uid":"11335632503838284136","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":"8614617944599958478.mp4"}
+{"uid":"7747780980371891040","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue chip packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blue chip 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":"11308529909722588052.mp4"}
+{"uid":"13825962263318591866","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e","video":"17787671725903334953.mp4"}
+{"uid":"15076108927595751901","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket 6- place the toy in the basket 7- place the toy in the basket 8- place the toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy in the basket 2- place the toy in the basket 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket 6- place the toy in the basket 7- place the toy in the basket 8- place the toy in the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e","video":"9765044889837743404.mp4"}
+{"uid":"12068163090396270514","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the 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":"7678588328962336896.mp4"}
+{"uid":"1618890216379002584","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink cup  on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10946094193795425979.mp4"}
+{"uid":"10880929122967544596","text":"\u003ctask:success:discrete:True\u003e\nput brown chip 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 brown chip packet on the table\n\u003c/PRED\u003e","video":"13213406018819886703.mp4"}
+{"uid":"2323721960556422464","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the small brown packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11482878276534120667.mp4"}
+{"uid":"116738238248543947","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":"2897466263146064366.mp4"}
+{"uid":"14926329740432682421","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy in the basket 2- place the toy in the basket 3- place the toy in the basket 4- place the toy in the basket 5- place the toy in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Im done with the toys, can you clean up the toys and place them back into the basket. last 20 steps: 1- place the toy in the basket Q: immediate next step? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy in the basket\n\u003c/PRED\u003e","video":"12266839370456555831.mp4"}
+{"uid":"16805189114117244771","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"705419413414905061.mp4"}
+{"uid":"18108264512158848912","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK Q: immediate next step? \u003cPRED\u003eA: Put the burn relief gel in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the burn relief gel in the tray 2- Put packet in the white tray 3- Put white tray on the kitchen table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the burn relief gel in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the burn relief gel in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the burn relief gel 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: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box Q: immediate next step? \u003cPRED\u003eA: Put the burn relief gel in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the burn relief gel 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":"18164631203650098446.mp4"}
+{"uid":"11678821330198334746","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the banana in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5528223083447783357.mp4"}
+{"uid":"10271430599404563279","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":"10298586808834172342.mp4"}
+{"uid":"1761396069310967962","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the bowls. last 20 steps: 1- stack the bowl 2- Stack up the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the bowls. last 20 steps: 1- stack the bowl 2- Stack up the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the bowls Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack up the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack up 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":"857876703807444462.mp4"}
+{"uid":"11363511318009823150","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cup on cups stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8693245497243954608.mp4"}
+{"uid":"2852623549896129654","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bowl inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bowl inside the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the bowls Q: immediate next step? \u003cPRED\u003eA: Put the bowl inside the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl inside the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the bowls. last 20 steps: 1- stack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl inside 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 bowl inside the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the bowls. last 20 steps: 1- stack the bowl Q: immediate next step? \u003cPRED\u003eA: Put the bowl inside the bowl\n\u003c/PRED\u003e","video":"1700458388320089894.mp4"}
+{"uid":"4524000568325237968","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":"5335759215659121611.mp4"}
+{"uid":"14060333484429477187","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the bowls. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl inside the bowl 2- stack the bowl 3- stack the bowl 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bowl inside the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the bowls Q: immediate next step? \u003cPRED\u003eA: Put the bowl inside the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the bowls. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the bowl inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bowl inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bowl inside the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl inside the bowl\n\u003c/PRED\u003e","video":"17301451854635927666.mp4"}
+{"uid":"6344887630965303113","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the bowls. last 20 steps: 1- stack the bowl 2- stack the bowl 3- Stack up the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack up 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: Stack up the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the bowls. last 20 steps: 1- stack the bowl 2- stack the bowl 3- Stack up the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the bowls Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8420168783913124061.mp4"}
+{"uid":"3917157575900928801","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the gate of first aid  box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the gate of first aid  box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the gate of first aid  box 2- Put packet in the white tray 3- Put packet in the white tray 4- Put white tray on the kitchen table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the gate of first aid  box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK Q: immediate next step? \u003cPRED\u003eA: Open the gate of first aid  box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the gate of first aid  box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the gate of first aid  box\n\u003c/PRED\u003e","video":"14885498529559690040.mp4"}
+{"uid":"4954468605207354630","text":"\u003ctask:success:discrete:True\u003e\nstack 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: restack the bowls. last 20 steps: 1- stack the bowl 2- stack the bowl 3- stack the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the bowls Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the bowls. last 20 steps: 1- stack the bowl 2- stack the bowl 3- stack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"17892106263103308281.mp4"}
+{"uid":"3789622578409453553","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"17659272905710367973.mp4"}
+{"uid":"16847034033650515360","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the burn dressing in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box 2- Put packet in the white tray Q: immediate next step? \u003cPRED\u003eA: Put the burn dressing in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the burn dressing in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box 2- Put packet in the white tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the burn dressing in the tray 2- Put white tray on the kitchen table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK Q: immediate next step? \u003cPRED\u003eA: Put the burn dressing in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the burn dressing 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 burn dressing in the tray\n\u003c/PRED\u003e","video":"13468008456053615680.mp4"}
+{"uid":"1003534513540907298","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open first aid box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen first aid box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open first aid box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open first aid box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen first aid box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open first aid box 2- Put packet in the white tray 3- Put packet in the white tray 4- Put white tray on the kitchen table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK Q: immediate next step? \u003cPRED\u003eA: Open first aid box\n\u003c/PRED\u003e","video":"11866645699236933834.mp4"}
+{"uid":"7407578733144681303","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the glasses in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7230687935144167287.mp4"}
+{"uid":"14135314065500844167","text":"\u003ctask:success:discrete:True\u003e\nOpen the gate of first aid  box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the gate of first aid  box\n\u003c/PRED\u003e","video":"14310650310003631673.mp4"}
+{"uid":"6732538711153667186","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the bowls Q: immediate next step? \u003cPRED\u003eA: Stack up the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the bowls. last 20 steps: 1- stack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Stack up the bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the bowls. last 20 steps: 1- stack the bowl Q: immediate next step? \u003cPRED\u003eA: Stack up the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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:success:discrete:False\u003e\nStack 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: Stack up the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack up the bowl\n\u003c/PRED\u003e","video":"10562329953810283357.mp4"}
+{"uid":"8877651871345316764","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open first aid box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open first aid box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK Q: immediate next step? \u003cPRED\u003eA: open first aid box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open first aid box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open first aid box 2- Put packet in the white tray 3- Put packet in the white tray 4- Put white tray on the kitchen table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen first aid box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen first aid box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4556255655178245023.mp4"}
+{"uid":"9498864451858801665","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":"5253617271435495814.mp4"}
+{"uid":"294593517817478320","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box 2- Put packet in the white tray 3- Put packet in the white tray 4- place the tray on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the tray on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box 2- Put packet in the white tray 3- Put packet in the white tray 4- place the tray on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the tray on the table\n\u003c/PRED\u003e","video":"2968082893791686754.mp4"}
+{"uid":"8122661180257317304","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the bowls Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the bowls. last 20 steps: 1- stack the bowl 2- stack the bowl 3- Put the bowl inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the bowls. last 20 steps: 1- stack the bowl 2- stack the bowl 3- Put the bowl inside the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the bowl inside 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 bowl inside the bowl\n\u003c/PRED\u003e","video":"12933852380825066647.mp4"}
+{"uid":"5243624181507302692","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":"17284752783691930031.mp4"}
+{"uid":"4073273245434277204","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"2498524448615095345.mp4"}
+{"uid":"2672173056109641093","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":"12106322297331233208.mp4"}
+{"uid":"15848507416543981888","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the bowls. last 20 steps: 1- stack the bowl 2- stack the bowl Q: immediate next step? \u003cPRED\u003eA: Put the bowl inside the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the bowls. last 20 steps: 1- stack the bowl 2- stack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl inside the bowl 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the bowls Q: immediate next step? \u003cPRED\u003eA: Put the bowl inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bowl inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bowl inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl inside the bowl\n\u003c/PRED\u003e","video":"1929890294489429523.mp4"}
+{"uid":"6980280117558242602","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup in 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":"11344263815867583167.mp4"}
+{"uid":"5774759869650052092","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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: Stack up the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the bowls. last 20 steps: 1- stack the bowl 2- stack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Stack up the bowl 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the bowls Q: immediate next step? \u003cPRED\u003eA: Stack up the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the bowls. last 20 steps: 1- stack the bowl 2- stack the bowl Q: immediate next step? \u003cPRED\u003eA: Stack up the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack up the bowl\n\u003c/PRED\u003e","video":"5604004018245093608.mp4"}
+{"uid":"12746840050695873606","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open first aid box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen first aid box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5347841598719892126.mp4"}
+{"uid":"9426739826359418725","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box 2- Put packet in the white tray Q: immediate next step? \u003cPRED\u003eA: place the blue packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box 2- Put packet in the white tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK Q: immediate next step? \u003cPRED\u003eA: place the blue packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3221038835056142054.mp4"}
+{"uid":"78198828240605785","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":"5169863345294779160.mp4"}
+{"uid":"3355516489970094770","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":"2387086643805887510.mp4"}
+{"uid":"4969164732476280385","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the bowls Q: immediate next step? \u003cPRED\u003eA: Stack up the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack up the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the bowls. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Stack up the bowl 2- stack the bowl 3- stack the bowl 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack up the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the bowls. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Stack up the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack 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:discriminative:discrete:True\u003e\nStack 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","video":"16218625750967530664.mp4"}
+{"uid":"16619774572192122649","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the bowls. last 20 steps: 1- stack the bowl 2- stack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- stack the bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the bowls. last 20 steps: 1- stack the bowl 2- stack the bowl Q: immediate next step? \u003cPRED\u003eA: stack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the bowl\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the bowls Q: immediate next step? \u003cPRED\u003eA: stack the bowl\n\u003c/PRED\u003e","video":"5946560580240982961.mp4"}
+{"uid":"13994837210310608748","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box Q: immediate next step? \u003cPRED\u003eA: Put packet in the white tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK Q: immediate next step? \u003cPRED\u003eA: Put packet in the white tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box Q: next 5 steps? \u003cPRED\u003eA: 1- Put packet in the white tray 2- Put packet in the white tray 3- Put white tray on the kitchen table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut packet in the white 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 white tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put packet in the white tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut packet in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14048047496787265733.mp4"}
+{"uid":"2022457878170386443","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box 2- Put packet in the white tray 3- Put packet in the white tray 4- Put the tray on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tray on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box 2- Put packet in the white tray 3- Put packet in the white tray 4- Put the tray on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the tray on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4801795836425869242.mp4"}
+{"uid":"4034016595630516253","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put packet in the white tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut packet in the white 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":"18147266790731926316.mp4"}
+{"uid":"7931797378009122710","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box 2- Put packet in the white tray 3- Put packet in the white tray Q: immediate next step? \u003cPRED\u003eA: Put the tray on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tray on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the tray on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tray on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK Q: immediate next step? \u003cPRED\u003eA: Put the tray on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tray on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box 2- Put packet in the white tray 3- Put packet in the white tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tray on the table 2- done\n\u003c/PRED\u003e","video":"12633021220717995265.mp4"}
+{"uid":"17176457241401653448","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open first aid box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen first aid box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4086682358028295648.mp4"}
+{"uid":"13073557017072095165","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue white packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue white packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue white packet in the tray 2- Put white tray on the kitchen table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK Q: immediate next step? \u003cPRED\u003eA: place the blue white packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue 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: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box Q: immediate next step? \u003cPRED\u003eA: place the blue white packet in the tray\n\u003c/PRED\u003e","video":"10366895644286174464.mp4"}
+{"uid":"2895346755446002208","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black 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":"2324743351281050146.mp4"}
+{"uid":"11025313793176865209","text":"\u003ctask:success:discrete:True\u003e\nPut the bowl inside 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: restack the bowls Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the bowls. last 20 steps: 1- stack the bowl 2- Put the bowl inside 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 bowl inside the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the bowls. last 20 steps: 1- stack the bowl 2- Put the bowl inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"12717629147573344180.mp4"}
+{"uid":"7271518237345698559","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chess piece 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":"16921330957323072193.mp4"}
+{"uid":"8679081812453143239","text":"\u003ctask:success:discrete:True\u003e\nPut the burn dressing 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 burn dressing in the tray\n\u003c/PRED\u003e","video":"17974220518080273763.mp4"}
+{"uid":"17184943768414182146","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tray on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tray on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK Q: immediate next step? \u003cPRED\u003eA: place the tray on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tray on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box 2- Put packet in the white tray 3- Put packet in the white tray Q: immediate next step? \u003cPRED\u003eA: place the tray on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box 2- Put packet in the white tray 3- Put packet in the white tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the tray 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 on the table\n\u003c/PRED\u003e","video":"17622586948141615543.mp4"}
+{"uid":"18269394912125320353","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: restack the bowls. last 20 steps: 1- stack the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- stack the bowl 2- stack the bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: restack the bowls Q: immediate next step? \u003cPRED\u003eA: stack the bowl\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: restack the bowls. last 20 steps: 1- stack the bowl Q: immediate next step? \u003cPRED\u003eA: stack the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack 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":"2948000497505786791.mp4"}
+{"uid":"2405273719505057910","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box 2- Put packet in the white tray 3- Put packet in the white tray Q: immediate next step? \u003cPRED\u003eA: Put white tray on the kitchen table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box 2- Put packet in the white tray 3- Put packet in the white tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put white tray on the kitchen table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put white tray on the kitchen table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put white tray on the kitchen table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut white tray on the kitchen table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 tray on the kitchen table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 first aid box, grab a pack of burn gel and burn dressing and take them to the MK Q: immediate next step? \u003cPRED\u003eA: Put white tray on the kitchen table\n\u003c/PRED\u003e","video":"17409140435340019379.mp4"}
+{"uid":"7420753044706064863","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"322547134282215197.mp4"}
+{"uid":"18226361436269938601","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":"3488823032136409403.mp4"}
+{"uid":"7569866210657955784","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the napkin on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15036697636662072904.mp4"}
+{"uid":"18440592931062720037","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box 2- Put packet in the white tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put packet in the white tray 2- Put white tray on the kitchen table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put packet in the white tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put packet in the white tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box 2- Put packet in the white tray Q: immediate next step? \u003cPRED\u003eA: Put packet in the white tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut packet in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK Q: immediate next step? \u003cPRED\u003eA: Put packet in the white tray\n\u003c/PRED\u003e","video":"17505361662730008819.mp4"}
+{"uid":"15407401736967423859","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box 2- Put packet in the white tray 3- place the blue 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 blue packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the blue packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box 2- Put packet in the white tray 3- place the blue packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"4784573666927286086.mp4"}
+{"uid":"15795739287535377082","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy in the holderd Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3590113119292245841.mp4"}
+{"uid":"2753592128288500095","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pink sugar packet in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17202518968422782243.mp4"}
+{"uid":"14558357150710361685","text":"\u003ctask:success:discrete:True\u003e\nPut white tray on the kitchen table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box 2- Put packet in the white tray 3- Put packet in the white tray 4- Put white tray on the kitchen table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK. last 20 steps: 1- Open first aid box 2- Put packet in the white tray 3- Put packet in the white tray 4- Put white tray on the kitchen table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put white tray on the kitchen table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a pack of burn gel and burn dressing and take them to the MK Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6213659866864730311.mp4"}
+{"uid":"17900134474206486033","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup 5- Stack the glasses 6- Stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the cup 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup 5- Stack the glasses 6- Stack the cup Q: immediate next step? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5750542574278109579.mp4"}
+{"uid":"17589888313424616950","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup 5- Stack the glasses 6- Stack the cup 7- stack the glasses Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup 5- Stack the glasses 6- Stack the cup 7- stack the glasses Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"9646359972006201297.mp4"}
+{"uid":"18241897887444468293","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"10197058962843642821.mp4"}
+{"uid":"5389907384104504847","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the drawer of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11562740928840537671.mp4"}
+{"uid":"4298778862631705044","text":"\u003ctask:success:discrete:False\u003e\nstack 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: stack the glasses\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glasses 2- Stack the cup 3- Stack the glasses 4- Stack the cup 5- Stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass Q: immediate next step? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e","video":"188662519269426286.mp4"}
+{"uid":"10623146769503204516","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- stack the glass 3- move arm upward 4- Stack the cup 5- Stack the glasses\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"9955177270601621513.mp4"}
+{"uid":"2179814461621403799","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup 5- Stack the glasses\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack 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: Stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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 stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e","video":"12391942692954761047.mp4"}
+{"uid":"17455318389645648927","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":"7553389865400757672.mp4"}
+{"uid":"2685359309018373190","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":"13543277195522331634.mp4"}
+{"uid":"996357292397967464","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup 5- Stack the glasses 6- Stack the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup 5- Stack the glasses 6- Stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e","video":"14043384808212912708.mp4"}
+{"uid":"16637983205377092533","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the glasses\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the glasses\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup 5- Stack the glasses Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the glasses 2- Stack the cup 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup 5- Stack the glasses Q: immediate next step? \u003cPRED\u003eA: Stack the glasses\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: Stack the glasses\n\u003c/PRED\u003e","video":"18104998902147610729.mp4"}
+{"uid":"16929886699954519849","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange 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":"15385567488007468461.mp4"}
+{"uid":"2894746349038084766","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup 5- Stack the glasses 6- Stack the cup 7- Stack the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup 5- Stack the glasses 6- Stack the cup 7- Stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16529243038397137741.mp4"}
+{"uid":"12288616165094048292","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- move arm upward 3- Stack the cup 4- Stack the glasses 5- Stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7889098445645006991.mp4"}
+{"uid":"9758594007170481333","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":"17409662413829896872.mp4"}
+{"uid":"3752610952131694828","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":"11005463935333596047.mp4"}
+{"uid":"2595063331250892565","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass Q: immediate next step? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the cup 2- Stack the cup 3- Stack the glasses 4- Stack the cup 5- Stack the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e","video":"10817759758535121506.mp4"}
+{"uid":"752756126151106975","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup 5- Stack the glasses 6- Stack the cup 7- Stack the cup Q: immediate next step? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup 5- Stack the glasses 6- Stack the cup 7- Stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glasses 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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":"4180563591291086186.mp4"}
+{"uid":"5733627935092775672","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move arm upward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- move arm upward 2- Stack the cup 3- Stack the glasses 4- Stack the cup 5- Stack the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove arm upward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove arm upward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: move arm upward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move arm upward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass Q: immediate next step? \u003cPRED\u003eA: move arm upward\n\u003c/PRED\u003e","video":"3804231821202140591.mp4"}
+{"uid":"14590405569436070310","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the glass 2- Stack the glasses 3- Stack the cup 4- Stack the cup 5- Stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13825087888878899879.mp4"}
+{"uid":"7442554201860670145","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":"12473439265555757069.mp4"}
+{"uid":"4436943573344092960","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12738730553690233756.mp4"}
+{"uid":"8089835563622130455","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":"11320284087971339140.mp4"}
+{"uid":"89498790718820304","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the cup 2- Stack the glasses 3- Stack the cup 4- Stack the cup 5- Stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward Q: immediate next step? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e","video":"1821648100368430189.mp4"}
+{"uid":"17624386435505690279","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack 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":"15881526710315329912.mp4"}
+{"uid":"13422510781848701883","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12211657699211714747.mp4"}
+{"uid":"16089657103769827289","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup 5- Stack the glasses 6- Stack the cup 7- move arm forward Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup 5- Stack the glasses 6- Stack the cup 7- move arm forward Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move arm forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove 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":"9026632790966292960.mp4"}
+{"uid":"1402290239507340030","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nWhat text command would you give the robot to get it to do what you saw in the clip you selected? Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1114301684248816955.mp4"}
+{"uid":"14920963345898285813","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup 5- Stack the glasses Q: immediate next step? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup 5- Stack the glasses Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the cup 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e","video":"14912716523449694677.mp4"}
+{"uid":"6133540915370223255","text":"\u003ctask:success:discrete:False\u003e\nStack 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup Q: immediate next step? \u003cPRED\u003eA: Stack the glasses\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the glasses\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: Stack the glasses\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the glasses\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the glasses 2- move arm upward 3- Stack the cup 4- Stack the glasses 5- Stack the cup\n\u003c/PRED\u003e","video":"7392256242268653131.mp4"}
+{"uid":"15137637477384750018","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":"16883524680877290903.mp4"}
+{"uid":"6795518843238293591","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":"2389574714872974813.mp4"}
+{"uid":"16364836205262445205","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chips packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14923830781278131485.mp4"}
+{"uid":"14378936960944923146","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: lift the glasses\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup 5- Stack the glasses 6- Stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- lift the glasses 2- Stack the cup 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: lift the glasses\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: lift the glasses\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nlift 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup 5- Stack the glasses 6- Stack the cup Q: immediate next step? \u003cPRED\u003eA: lift the glasses\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nlift 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","video":"12663947081149262361.mp4"}
+{"uid":"8348563768128685262","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":"14845208594317121689.mp4"}
+{"uid":"3340283166304256794","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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 stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the cup 2- Stack the cup 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup Q: immediate next step? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e","video":"2623727040527618009.mp4"}
+{"uid":"8696308024584004964","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":"2276399632048464733.mp4"}
+{"uid":"3771799772065017439","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the cup 2- move arm upward 3- Stack the cup 4- Stack the glasses 5- Stack the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup Q: immediate next step? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e","video":"10099300671964190297.mp4"}
+{"uid":"6391752630299488048","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- Stack the cup 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"16766176766058667885.mp4"}
+{"uid":"16313064773596439270","text":"\u003ctask:success:discrete:False\u003e\nmove 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:discriminative:discrete:True\u003e\nmove 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:planning:freeform\u003e\ncurrent goal is: please stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: move arm forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move arm forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move arm forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup 5- Stack the glasses 6- Stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- move arm forward 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup 5- Stack the glasses 6- Stack the cup Q: immediate next step? \u003cPRED\u003eA: move arm forward\n\u003c/PRED\u003e","video":"7349020993727965404.mp4"}
+{"uid":"2421858631430744607","text":"\u003ctask:success:discrete:False\u003e\nstack 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:planning:freeform\u003e\ncurrent goal is: please stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup 5- Stack the glasses 6- Stack the cup Q: immediate next step? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup 5- Stack the glasses 6- Stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glasses 2- done\n\u003c/PRED\u003e","video":"15202874152956357047.mp4"}
+{"uid":"14999905841247962073","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the glass in the 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":"12264727311144026224.mp4"}
+{"uid":"2799953780143818161","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8677521466161729966.mp4"}
+{"uid":"5890582415822929500","text":"\u003ctask:success:discrete:True\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"1347842353683512393.mp4"}
+{"uid":"2143687918037121393","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":"13132734865768503402.mp4"}
+{"uid":"4035426954024803424","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":"14970400094713953900.mp4"}
+{"uid":"11858410059854506992","text":"\u003ctask:success:discrete:True\u003e\nStack 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: Stack the cup\n\u003c/PRED\u003e","video":"4834354411630519086.mp4"}
+{"uid":"14764160669519598772","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the glasses\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup Q: immediate next step? \u003cPRED\u003eA: Stack the glasses\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the glasses 2- move arm upward 3- Stack the cup 4- Stack the glasses 5- Stack the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: Stack the glasses\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the glasses\n\u003c/PRED\u003e","video":"7800169320418227473.mp4"}
+{"uid":"7864422298029058078","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the glasses 2- Stack the cup 3- Stack the cup 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the glasses\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup Q: immediate next step? \u003cPRED\u003eA: Stack the glasses\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the glasses\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: Stack the glasses\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack 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","video":"6859044746594101665.mp4"}
+{"uid":"11374513212347549109","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup Q: immediate next step? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the cup 2- move arm upward 3- Stack the cup 4- Stack the glasses 5- Stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6168129276738011755.mp4"}
+{"uid":"2355253383650422391","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15543555405269964662.mp4"}
+{"uid":"2348310554020516842","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16831325698015219586.mp4"}
+{"uid":"10586340854702527877","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":"5899150756136117255.mp4"}
+{"uid":"6718727615325194795","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup Q: immediate next step? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack cups on counter. last 20 steps: 1- Stack the cup 2- stack the glass 3- move arm upward 4- Stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the cup 2- Stack the cup 3- Stack the cup 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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 stack cups on counter. Q: immediate next step? \u003cPRED\u003eA: Stack the cup\n\u003c/PRED\u003e","video":"10108557247428289474.mp4"}
+{"uid":"15984885362353721154","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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table 8- unstack the white bowl  put it on the table 9- put the orange in the white 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: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: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 cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table 8- unstack the white bowl  put it on the table 9- put the orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- put the orange in the white bowl 3- put the orange in the white bowl 4- done\n\u003c/PRED\u003e","video":"4552055117827196105.mp4"}
+{"uid":"10085001406558764243","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1572245054670598859.mp4"}
+{"uid":"2802874237773151990","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":"14496978446130039104.mp4"}
+{"uid":"4415715211495789077","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":"10550049722670195128.mp4"}
+{"uid":"1335504828318266197","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the white bowl  put it on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 white bowl  put it on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the white bowl  put it on the table\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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table Q: immediate next step? \u003cPRED\u003eA: unstack the white bowl  put it on the table\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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the white bowl  put it on the table 2- put the orange in the white bowl 3- put the orange in the white bowl 4- put the orange in the white bowl 5- put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the white bowl  put it on the table\n\u003c/PRED\u003e","video":"16731870809056320421.mp4"}
+{"uid":"16401870724544200878","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":"13397298340525270468.mp4"}
+{"uid":"14402939777006497438","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table 8- unstack the white bowl  put it on the table 9- put the orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the white 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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table 8- unstack the white bowl  put it on the table 9- put the orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the white bowl 2- put the orange in the white bowl 3- put the orange in the white 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 white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e","video":"17168022369393068460.mp4"}
+{"uid":"16941083608934101324","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 the glass  put it on the table Q: immediate next step? \u003cPRED\u003eA: unstack the glass  put it on the table\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 the glass  put it on the table Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass  put it on the table 2- unstack the glass 3- unstack the glass  put it on the table 4- unstack the glass  put it on the table 5- unstack the white bowl  put it on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glass  put it on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 glass  put it on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass  put it on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass  put it on the table\n\u003c/PRED\u003e","video":"7553130507789009545.mp4"}
+{"uid":"127993257779665940","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass  put it on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the glass  put it on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 glass  put it on the table\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 glass  put it on the table\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 glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass  put it on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glass  put it on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7375612388892063938.mp4"}
+{"uid":"4553624918457780389","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"12737828291697730912.mp4"}
+{"uid":"3409062988067286591","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup downwards\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 cup downwards\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup downwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cup 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: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table Q: immediate next step? \u003cPRED\u003eA: put the cup downwards\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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup downwards 2- put the orange in the white bowl 3- put the orange in the white bowl 4- put the orange in the white bowl 5- put the orange in the white bowl\n\u003c/PRED\u003e","video":"2150709001888195846.mp4"}
+{"uid":"7603045943686146068","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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table 8- unstack the white bowl  put it on the table 9- put the orange in the white bowl 10- put the orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the white 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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table 8- unstack the white bowl  put it on the table 9- put the orange in the white bowl 10- put the orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the white bowl 2- put the orange in the white bowl 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e","video":"7002617759816957560.mp4"}
+{"uid":"10005917950055142588","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table 8- unstack the white bowl  put it on the table 9- put the orange in the white 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 cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table 8- unstack the white bowl  put it on the table 9- put the orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- put the orange in the white bowl 3- put the orange in the white bowl 4- 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: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: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":"6835420743204887170.mp4"}
+{"uid":"10041485781526479742","text":"\u003ctask:success:discrete:False\u003e\nunstack the white bowl  put it on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the white bowl  put it on the table\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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table Q: immediate next step? \u003cPRED\u003eA: unstack the white bowl  put it on the table\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 white bowl  put it on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the white bowl  put it on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the white bowl  put it on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the white bowl  put it on the table 2- unstack the white bowl  put it on the table 3- unstack the white bowl  put it on the table 4- put the orange in the white bowl 5- put the orange in the white bowl\n\u003c/PRED\u003e","video":"751020192313706332.mp4"}
+{"uid":"458364403861324861","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":"15008331662310481889.mp4"}
+{"uid":"13122607226547484606","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2706164536862581625.mp4"}
+{"uid":"7618832190550870441","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11512794567321454594.mp4"}
+{"uid":"2421523622273518517","text":"\u003ctask:success:discrete:False\u003e\nunstack the glass  put it on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass  put it on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glass  put it on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass  put it on the table\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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the glass  put it on the table\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 glass  put it on the table\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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the white bowl  put it on the table 4- unstack the white bowl  put it on the table 5- unstack the white bowl  put it on the table\n\u003c/PRED\u003e","video":"11002180242776741886.mp4"}
+{"uid":"8511695209104705293","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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass 2- unstack the glass  put it on the table 3- unstack the white bowl  put it on the table 4- unstack the white bowl  put it on the table 5- unstack the white bowl  put it on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the 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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e","video":"14064074708714314410.mp4"}
+{"uid":"16205974266773713721","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cup 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: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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup downwards 2- unstack the white bowl  put it on the table 3- put the orange in the white bowl 4- put the orange in the white bowl 5- put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup downwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cup 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: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 cup downwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup downwards\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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table Q: immediate next step? \u003cPRED\u003eA: put the cup downwards\n\u003c/PRED\u003e","video":"1349198207550697014.mp4"}
+{"uid":"13258732957007911739","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the 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 the glass  put it on the table 2- unstack the glass  put it on the table Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 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 the glass  put it on the table 2- unstack the glass  put it on the table Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass 2- unstack the glass  put it on the table 3- unstack the glass  put it on the table 4- unstack the white bowl  put it on the table 5- unstack the white bowl  put it on the table\n\u003c/PRED\u003e","video":"14779474534421193537.mp4"}
+{"uid":"14717308892217553146","text":"\u003ctask:success:discrete:True\u003e\nunstack the glass  put it on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glass  put it on the table\n\u003c/PRED\u003e","video":"8947759323856254375.mp4"}
+{"uid":"2392269494983472356","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up a joystick 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":"8796457041162278329.mp4"}
+{"uid":"17118734617303776281","text":"\u003ctask:success:discrete:True\u003e\nput the red cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the red cup on the table\n\u003c/PRED\u003e","video":"3301960229120809058.mp4"}
+{"uid":"1453759130523409539","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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table 8- unstack the white bowl  put it on the table Q: immediate next step? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the white 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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table 8- unstack the white bowl  put it on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the white bowl 2- put the orange in the white bowl 3- put the orange in the white bowl 4- put the orange in the white 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 the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e","video":"13127114478584297628.mp4"}
+{"uid":"17290690281020391912","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass in stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3188334524669453544.mp4"}
+{"uid":"6525252480426918574","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:success:discrete:False\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table 8- unstack the white bowl  put it on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- put the orange in the white bowl 3- put the orange in the white bowl 4- put the orange in the white 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 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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table 8- unstack the white bowl  put it on the table Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"11990888069300728803.mp4"}
+{"uid":"17158224784735559193","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fruit in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17973366429648871378.mp4"}
+{"uid":"16401384638506259355","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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass  put it on the table 2- unstack the white bowl  put it on the table 3- unstack the white bowl  put it on the table 4- unstack the white bowl  put it on the table 5- put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass  put it on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glass  put it on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass  put it on the table\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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table Q: immediate next step? \u003cPRED\u003eA: unstack the glass  put it on the table\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 glass  put it on the table\n\u003c/PRED\u003e","video":"6317972539854195685.mp4"}
+{"uid":"4692461643601817933","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrag the scissors at the edge of table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6379242020260576595.mp4"}
+{"uid":"16221143823066043713","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 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 cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- unstack the white bowl  put it on the table 3- unstack the white bowl  put it on the table 4- put the orange in the white bowl 5- put the orange in the white 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 cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e","video":"13885583837078645551.mp4"}
+{"uid":"5580127873708740534","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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each 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 cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- put the orange in the white bowl 3- put the orange in the white bowl 4- put the orange in the white bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e","video":"17298427041398630242.mp4"}
+{"uid":"12317888975902662908","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":"2855187693091377002.mp4"}
+{"uid":"12948260046260314210","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange cup on the table\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 cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange 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: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass Q: immediate next step? \u003cPRED\u003eA: put the orange cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange cup on the table 2- unstack the glass  put it on the table 3- unstack the white bowl  put it on the table 4- unstack the white bowl  put it on the table 5- unstack the white bowl  put it on the table\n\u003c/PRED\u003e","video":"10560883731572105460.mp4"}
+{"uid":"6337427723604901907","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange 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":"8491926610420753994.mp4"}
+{"uid":"3645626129831329004","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange cup on the table\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 the glass  put it on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange cup on the table 2- unstack the glass 3- unstack the glass  put it on the table 4- unstack the glass  put it on the table 5- unstack the white bowl  put it on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange 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: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 the glass  put it on the table Q: immediate next step? \u003cPRED\u003eA: put the orange cup on the table\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 cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange cup on the table\n\u003c/PRED\u003e","video":"4713519520738753837.mp4"}
+{"uid":"16642320272421622426","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"6484063090488146557.mp4"}
+{"uid":"11787237580020190592","text":"\u003ctask:success:discrete:True\u003e\nunstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e","video":"554211121985025070.mp4"}
+{"uid":"14261996556688702977","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntouch 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":"10933613343974673141.mp4"}
+{"uid":"14573464589255873236","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"10289770410068335688.mp4"}
+{"uid":"458374683952412687","text":"\u003ctask:success:discrete:True\u003e\nunstack the glass  put it on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glass  put it on the table\n\u003c/PRED\u003e","video":"7423450207543141065.mp4"}
+{"uid":"7954707639605948616","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table Q: immediate next step? \u003cPRED\u003eA: unstack the 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 the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass 2- unstack the white bowl  put it on the table 3- unstack the white bowl  put it on the table 4- unstack the white bowl  put it on the table 5- put the orange in the white bowl\n\u003c/PRED\u003e","video":"9637519941636937704.mp4"}
+{"uid":"1369632993458730714","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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table 8- unstack the white bowl  put it on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- put the orange in the white bowl 3- put the orange in the white bowl 4- put the orange in the white bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the 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: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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table 8- unstack the white bowl  put it on the table Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"2877632778141167864.mp4"}
+{"uid":"1684850442021616796","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":"17569734909587025827.mp4"}
+{"uid":"17700449781486237025","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":"15900958203209170526.mp4"}
+{"uid":"5382515323897211960","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass  put it on the table Q: immediate next step? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 the glass  put it on the table Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the glass 2- unstack the glass 3- unstack the glass  put it on the table 4- unstack the glass  put it on the table 5- unstack the white bowl  put it on the table\n\u003c/PRED\u003e","video":"8180067628473688377.mp4"}
+{"uid":"1319865383451347348","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":"3612394064793932040.mp4"}
+{"uid":"11363494758774946842","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: put the red cup on the table\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: put the red cup on the table\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- put the red cup on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the red cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the red 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 the red cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the red 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":"16786965258115901172.mp4"}
+{"uid":"9386975355469720577","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":"9023778527201348507.mp4"}
+{"uid":"6548348713317978859","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e\u003ctask: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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the bowl 2- unstack the white bowl  put it on the table 3- put the orange in the white bowl 4- put the orange in the white bowl 5- put the orange in the white 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 cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table Q: immediate next step? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e","video":"8213010645966760654.mp4"}
+{"uid":"9285993816505820466","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange cup on the table\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 cup on the table\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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange cup on the table 2- unstack the white bowl  put it on the table 3- unstack the white bowl  put it on the table 4- unstack the white bowl  put it on the table 5- put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange 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: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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table Q: immediate next step? \u003cPRED\u003eA: put the orange cup on the table\n\u003c/PRED\u003e","video":"1312421046155132400.mp4"}
+{"uid":"16093230621816659628","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nupright the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9602622241683121251.mp4"}
+{"uid":"16761707609264488825","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange in the white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1235901195913504917.mp4"}
+{"uid":"11435697061489518822","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the fridge right 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":"5685518792924086604.mp4"}
+{"uid":"16757167031896685426","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":"16046503988433150049.mp4"}
+{"uid":"14167595386818412648","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the small 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":"1328741394605315293.mp4"}
+{"uid":"2322353816381350314","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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table Q: immediate next step? \u003cPRED\u003eA: unstack the white bowl  put it on the table\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 white bowl  put it on the table\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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the white bowl  put it on the table 2- put the orange in the white bowl 3- put the orange in the white bowl 4- put the orange in the white bowl 5- put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the white bowl  put it on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the white bowl  put it on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the white bowl  put it on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10042386474390589409.mp4"}
+{"uid":"45164613825762899","text":"\u003ctask:success:discrete:True\u003e\nunstack the glass  put it on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the glass  put it on the table\n\u003c/PRED\u003e","video":"14368638825561888119.mp4"}
+{"uid":"14521235992261260980","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":"9806127629682312468.mp4"}
+{"uid":"6669586816743669663","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"15138075573974277371.mp4"}
+{"uid":"4138603455235683223","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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table 8- unstack the white bowl  put it on the table 9- put the orange in the white bowl 10- put the orange in the white bowl 11- put the orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the white bowl 2- 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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table 8- unstack the white bowl  put it on the table 9- put the orange in the white bowl 10- put the orange in the white bowl 11- put the orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the white 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 white bowl\n\u003c/PRED\u003e","video":"11123526815263321230.mp4"}
+{"uid":"2150998447506194664","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: put 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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table 8- unstack the white bowl  put it on the table 9- put the orange in the white bowl 10- put the orange in the white bowl 11- put the orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- 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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table 8- unstack the white bowl  put it on the table 9- put the orange in the white bowl 10- put the orange in the white bowl 11- put the orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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":"16870041471228530229.mp4"}
+{"uid":"4090192783362006388","text":"\u003ctask:success:discrete:False\u003e\nput 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: put the cup on the table\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 cup on the table\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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table Q: immediate next step? \u003cPRED\u003eA: put the cup on the table\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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup on the table 2- unstack the white bowl  put it on the table 3- put the orange in the white bowl 4- put the orange in the white bowl 5- put the orange in the white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup on the table\n\u003c/PRED\u003e","video":"6102528412791057869.mp4"}
+{"uid":"11489850369918174343","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput second 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":"8064100583670844048.mp4"}
+{"uid":"334622833505099251","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note in the big 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":"233196254997170187.mp4"}
+{"uid":"12769250108316854421","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pink marker in pink marker 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":"7160509240330316033.mp4"}
+{"uid":"2870011130262519294","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the wire and dropped in to 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":"8711439225140963685.mp4"}
+{"uid":"486940803118335004","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue 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: put the blue cup on the table\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 blue cup on the table\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 the glass  put it on the table 2- unstack the glass  put it on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue cup on the table 2- unstack the glass  put it on the table 3- unstack the glass  put it on the table 4- unstack the white bowl  put it on the table 5- unstack the white bowl  put it on the table\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 the glass  put it on the table 2- unstack the glass  put it on the table Q: immediate next step? \u003cPRED\u003eA: put the blue cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue 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":"17016688339504968879.mp4"}
+{"uid":"2895487923911983889","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: 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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table 8- unstack the white bowl  put it on the table 9- put the orange in the white bowl 10- put the orange in the white 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 cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table 8- unstack the white bowl  put it on the table 9- put the orange in the white bowl 10- put the orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- put the orange in the white bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"6475710575006793737.mp4"}
+{"uid":"2567114755107583552","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nthrow cup 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":"3221500263612150414.mp4"}
+{"uid":"14580135577198418370","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"12767231845760992942.mp4"}
+{"uid":"10926516135242445411","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 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 the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 glass 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table\n\u003c/PRED\u003e","video":"3335619414951438313.mp4"}
+{"uid":"6083514244466505235","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: 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: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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table 8- unstack the white bowl  put it on the table 9- put the orange in the white bowl 10- put the orange in the white bowl 11- put the orange in the white bowl Q: immediate next step? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table 8- unstack the white bowl  put it on the table 9- put the orange in the white bowl 10- put the orange in the white bowl 11- put the orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- done\n\u003c/PRED\u003e","video":"16244774618775175218.mp4"}
+{"uid":"5813552556501671435","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen holder 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":"15985254050210678669.mp4"}
+{"uid":"8829673676114887556","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 the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table 8- unstack the white bowl  put it on the table 9- put the orange in the white bowl 10- put the orange in the white bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the bowl 2- put the orange in the white bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: unstack the cups and the bowls, then put one orange into each bowl. last 20 steps: 1- unstack the glass  put it on the table 2- unstack the glass  put it on the table 3- unstack the glass 4- unstack the glass  put it on the table 5- unstack the glass  put it on the table 6- unstack the white bowl  put it on the table 7- unstack the white bowl  put it on the table 8- unstack the white bowl  put it on the table 9- put the orange in the white bowl 10- put the orange in the white 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the bowl\n\u003c/PRED\u003e","video":"3387053282225034994.mp4"}
+{"uid":"2246527255242475979","text":"\u003ctask:success:discrete:True\u003e\nunstack the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the bowl\n\u003c/PRED\u003e","video":"13996999853583021653.mp4"}
+{"uid":"15455609848914894313","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pipcorn 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":"14138461439580440058.mp4"}
+{"uid":"5460070364535218798","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":"9334225209925025083.mp4"}
+{"uid":"2490842869574660259","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the white bowl  put it on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nunstack the white bowl  put it on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10943323259952873889.mp4"}
+{"uid":"6817523624129453855","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":"411484369834548697.mp4"}
+{"uid":"3906860853759306390","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white 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":"1879546484903335788.mp4"}
+{"uid":"4784588233792675808","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on table 2- put apple on the table 3- put apple on the table 4- put orange on the table 5- put apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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":"6981562408477135718.mp4"}
+{"uid":"6551065737761467965","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14009634590762240690.mp4"}
+{"uid":"5467292335928182524","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the fruit out of 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: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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of 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: take the fruit out of the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the table 5- put apple on the table\n\u003c/PRED\u003e","video":"16873002548760085508.mp4"}
+{"uid":"13880889853216212749","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on table 2- put apple on the table 3- put apple on the table 4- put orange on the table 5- put orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e","video":"13984561645581435968.mp4"}
+{"uid":"1669968929836005808","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy 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":"7526897782688963285.mp4"}
+{"uid":"14894126024100608135","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":"1256321067453486432.mp4"}
+{"uid":"468509647127729635","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":"10502120990349783515.mp4"}
+{"uid":"3032069407670683331","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":"11658621248614586838.mp4"}
+{"uid":"17458756043049960647","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pista 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":"18003230351609278301.mp4"}
+{"uid":"11939592153121012038","text":"\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: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put 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:planning:freeform\u003e\ncurrent goal is: take the fruit out of 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the table 5- put orange on the table\n\u003c/PRED\u003e","video":"17148791404540675657.mp4"}
+{"uid":"17506684523484264753","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- Switch on the lamp 2- Put the game board on the table 3- Open the drawer 4- Put the packet on the game board 5- Put the packet on the game board Q: next 5 steps? \u003cPRED\u003eA: 1- Put the dice on the game board 2- Close the drawer 3- Move the game board forward 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the dice on the game 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:affordance:discriminative:discrete:True\u003e\nPut the dice on the game 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:planning:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play? Q: immediate next step? \u003cPRED\u003eA: Put the dice on the game board\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the dice on the game board\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- Switch on the lamp 2- Put the game board on the table 3- Open the drawer 4- Put the packet on the game board 5- Put the packet on the game board Q: immediate next step? \u003cPRED\u003eA: Put the dice on the game board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the dice on the game board\n\u003c/PRED\u003e","video":"7865923980976089423.mp4"}
+{"uid":"4302288590591475129","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"3386840544870111420.mp4"}
+{"uid":"15214394772453393584","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":"10538881569322097525.mp4"}
+{"uid":"17609665408421253117","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":"16419528919950979054.mp4"}
+{"uid":"10515415412829617894","text":"\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put orange on the table 3- put apple on the table 4- put apple on the table 5- put orange 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 the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"9528895567257971031.mp4"}
+{"uid":"1950085305014479051","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the game board 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 game board 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: Can you turn on the light and set up the board game for us to play? Q: immediate next step? \u003cPRED\u003eA: Move the game board forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- Switch on the lamp 2- Put the game board on the table 3- Open the drawer 4- Put the packet on the game board 5- Put the packet on the game board 6- Put the dice on the game board 7- Close the drawer Q: immediate next step? \u003cPRED\u003eA: Move the game board forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the game board forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the game board forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- Switch on the lamp 2- Put the game board on the table 3- Open the drawer 4- Put the packet on the game board 5- Put the packet on the game board 6- Put the dice on the game board 7- Close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Move the game board forward 2- done\n\u003c/PRED\u003e","video":"7017066024657161357.mp4"}
+{"uid":"6600227457396636578","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":"13323646155145834517.mp4"}
+{"uid":"8340262197663309130","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove 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":"15537941857568644616.mp4"}
+{"uid":"8352068734023029300","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the table 5- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on table 2- put orange on the table 3- put orange 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 apple on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:discriminative:discrete:True\u003e\nput 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: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the table 5- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put apple on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on table\n\u003c/PRED\u003e","video":"16423245794030029794.mp4"}
+{"uid":"9276010285831128324","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":"782863658890300122.mp4"}
+{"uid":"11601378448673779769","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cups 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":"14951350471424835421.mp4"}
+{"uid":"5992141355632898151","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple on the table\n\u003c/PRED\u003e\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","video":"2857480189920244788.mp4"}
+{"uid":"8206819714232427814","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":"17276971324395072115.mp4"}
+{"uid":"13114019866879601102","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: Move the bowl backward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move the bowl backward 2- put apple on the table 3- put orange on the table 4- put apple on the table 5- put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the bowl backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the bowl backward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table Q: immediate next step? \u003cPRED\u003eA: Move the bowl backward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the bowl backward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the bowl backward\n\u003c/PRED\u003e","video":"7247134503048336946.mp4"}
+{"uid":"5290634516376674856","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the fruit out of 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\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 the fruit out of the bowl. last 20 steps: 1- put orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put apple on the table 3- put orange on the table 4- put apple 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","video":"2553002467078748649.mp4"}
+{"uid":"7480469771132060231","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on table 2- put apple on the table 3- put orange on the table 4- put orange on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the table Q: immediate next step? \u003cPRED\u003eA: put apple on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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 apple on table\n\u003c/PRED\u003e","video":"10925107548890174398.mp4"}
+{"uid":"119476939502565106","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:success:discrete:False\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table Q: immediate next step? \u003cPRED\u003eA: put apple on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on table 2- put apple on the table 3- put orange on the table 4- put apple on the table 5- put apple on the table\n\u003c/PRED\u003e","video":"12730062427152395729.mp4"}
+{"uid":"1057590142019461892","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Switch on the lamp\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Switch on the lamp\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play? Q: immediate next step? \u003cPRED\u003eA: Switch on the lamp\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSwitch on the lamp Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSwitch on the lamp Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Switch on the lamp 2- Put the game board on the table 3- Open the drawer 4- Put the packet on the game board 5- Put the packet on the game board\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Switch on the lamp\n\u003c/PRED\u003e","video":"5556802477977467314.mp4"}
+{"uid":"5358816094734053824","text":"\u003ctask:success:discrete:True\u003e\nput orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e","video":"15611929567184809030.mp4"}
+{"uid":"1213269579699264085","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the numi gunpowder green 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":"14443024095843236258.mp4"}
+{"uid":"11913455624232311145","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the game board on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the game board on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7300277473287832251.mp4"}
+{"uid":"5161354028012741168","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput another candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12099013468505012362.mp4"}
+{"uid":"18039417718395280063","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the table 5- put apple on the table 6- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange on the table 2- put orange on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the table 5- put apple on the table 6- put apple on the table 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:planning:freeform\u003e\ncurrent goal is: take the fruit out of the bowl 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":"13404198473517496519.mp4"}
+{"uid":"3896401886132171092","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":"15324164252093581739.mp4"}
+{"uid":"1763026141035890209","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the table 5- put apple on the table 6- put apple on the table 7- put orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the table 5- put apple on the table 6- put apple on the table 7- put orange on the table Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e","video":"16581755605536379534.mp4"}
+{"uid":"7001789115632527485","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":"6576194375129832528.mp4"}
+{"uid":"13580199436672211640","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on table 2- put orange on the table 3- put apple on the table 4- put apple on the table 5- put orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put apple on table\n\u003c/PRED\u003e","video":"16710334872996918882.mp4"}
+{"uid":"16562907819826002990","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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the table 5- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple on the table 2- put orange on the table 3- put orange on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the table 5- put 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:planning:freeform\u003e\ncurrent goal is: take the fruit out of the bowl 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","video":"11897411401957958396.mp4"}
+{"uid":"12927612220889390411","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the table 5- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the table 5- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put orange on the table 3- put orange on the table 4- done\n\u003c/PRED\u003e","video":"13054665699007096029.mp4"}
+{"uid":"3572103099749608762","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow colored tube in the tray kept 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":"17899325370679378449.mp4"}
+{"uid":"3906278652992978490","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the game 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- Switch on the lamp 2- Put the game board on the table 3- Open the drawer 4- Put the packet on the game board Q: immediate next step? \u003cPRED\u003eA: Put the packet on the game board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- Switch on the lamp 2- Put the game board on the table 3- Open the drawer 4- Put the packet on the game board Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the game board 2- Put the dice on the game board 3- Close the drawer 4- Move the game board forward 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the game board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the game board\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play? Q: immediate next step? \u003cPRED\u003eA: Put the packet on the game board\n\u003c/PRED\u003e","video":"18290269278684779400.mp4"}
+{"uid":"4524541801590378438","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the game board\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play? Q: immediate next step? \u003cPRED\u003eA: Put the packet on the game board\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet on the game 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- Switch on the lamp 2- Put the game board on the table 3- Open the drawer Q: immediate next step? \u003cPRED\u003eA: Put the packet on the game board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the game board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- Switch on the lamp 2- Put the game board on the table 3- Open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the game board 2- Put the packet on the game board 3- Put the dice on the game board 4- Close the drawer 5- Move the game board forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the game 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","video":"11263561624881820384.mp4"}
+{"uid":"8255443142183257655","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"960139895889003226.mp4"}
+{"uid":"6532435694420289214","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play? Q: immediate next step? \u003cPRED\u003eA: Put the game board on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the game board on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- Switch on the lamp Q: immediate next step? \u003cPRED\u003eA: Put the game board on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the game board on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the game board on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 turn on the light and set up the board game for us to play?. last 20 steps: 1- Switch on the lamp Q: next 5 steps? \u003cPRED\u003eA: 1- Put the game board on the table 2- Open the drawer 3- Put the packet on the game board 4- Put the packet on the game board 5- Put the dice on the game board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the game board on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2121161360815201190.mp4"}
+{"uid":"5921556980109457709","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- Switch on the lamp 2- Put the game board on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer 2- Put the packet on the game board 3- Put the packet on the game board 4- Put the dice on the game board 5- Close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play? 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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- Switch on the lamp 2- Put the game board on the table 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":"1349234790547835662.mp4"}
+{"uid":"12571776835789596966","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the table 5- put apple on the table 6- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- put orange on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the table 5- put apple on the table 6- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e","video":"60596795006926011.mp4"}
+{"uid":"11780242085058243983","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the table 5- put apple on the table 6- put apple on the table 7- put orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the table 5- put apple on the table 6- put apple on the table 7- put orange on the table Q: immediate next step? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e","video":"15903320912203686488.mp4"}
+{"uid":"6648462109338537962","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease the bottle 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":"1050131169016487805.mp4"}
+{"uid":"8747016194528928338","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the table 5- put apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e","video":"4575032393172574222.mp4"}
+{"uid":"3504661515571136150","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease 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":"6488251250803586779.mp4"}
+{"uid":"14651506014625956647","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":"15485841456222027475.mp4"}
+{"uid":"7545385537873891005","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":"10042827946167867190.mp4"}
+{"uid":"4790090896452619957","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the wipe on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5534927820451317916.mp4"}
+{"uid":"4339020011738425311","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple on the table 2- put apple on the table 3- put orange on the table 4- put orange on the table 5- done\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: take the fruit out of 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the 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","video":"162824441568569859.mp4"}
+{"uid":"8524222106123276818","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep 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":"13057224150135725280.mp4"}
+{"uid":"135606754688866954","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow can in the refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4165822485062913482.mp4"}
+{"uid":"10867876445490557094","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":"10304815295448622377.mp4"}
+{"uid":"8827691701627615721","text":"\u003ctask:success:discrete:True\u003e\nput 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple on table\n\u003c/PRED\u003e","video":"11677303993911578298.mp4"}
+{"uid":"10037249144837252693","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the table 5- put orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put orange on the table\n\u003c/PRED\u003e","video":"887597428818472748.mp4"}
+{"uid":"1213978493077309222","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":"15224954717507734087.mp4"}
+{"uid":"11659124248545467995","text":"\u003ctask:success:discrete:False\u003e\nput orange on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the table 5- put apple on the table 6- put apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange on table 2- put orange 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 orange on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the table 5- put apple on the table 6- put apple on the table Q: immediate next step? \u003cPRED\u003eA: put orange on table\n\u003c/PRED\u003e","video":"9160342990618132619.mp4"}
+{"uid":"10012692008917751251","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the table Q: immediate next step? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take the fruit out of the bowl. last 20 steps: 1- put orange on the table 2- put apple on the table 3- put apple on the table 4- put orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put apple on the table 2- put apple on the table 3- put orange on the table 4- put orange on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple on the table\n\u003c/PRED\u003e","video":"15061120848439904788.mp4"}
+{"uid":"15600432261199201251","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow chocolate in the small 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":"6792516732080934390.mp4"}
+{"uid":"15293534827941170070","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- Switch on the lamp 2- Put the game board on the table 3- Open the drawer 4- Put the packet on the game board 5- Put the packet on the game board 6- Put the dice on the game board Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- Move the game board forward 3- 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\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 turn on the light and set up the board game for us to play? 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: Can you turn on the light and set up the board game for us to play?. last 20 steps: 1- Switch on the lamp 2- Put the game board on the table 3- Open the drawer 4- Put the packet on the game board 5- Put the packet on the game board 6- Put the dice on the game board Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e","video":"16674201107184976814.mp4"}
+{"uid":"1579231829935932694","text":"\u003ctask:success:discrete:True\u003e\nput the white tray on the computer table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: 1- open the door 2- put the solution bottle in the white tray 3- Put the medicine box in the box 4- put the white tray on the computer table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the white tray on the computer table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: 1- open the door 2- put the solution bottle in the white tray 3- Put the medicine box in the box 4- put the white tray on the computer table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14437590124519955943.mp4"}
+{"uid":"6740408831584398964","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plastic bottle in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the plastic bottle in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4583637599078170329.mp4"}
+{"uid":"9785880100673738477","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put eye dressing box in the white tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: 1- open the door 2- put the solution bottle in the white tray Q: immediate next step? \u003cPRED\u003eA: put eye dressing box in the white tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput eye dressing box in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 eye dressing box in the white tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: 1- open the door 2- put the solution bottle in the white tray Q: next 5 steps? \u003cPRED\u003eA: 1- put eye dressing box in the white tray 2- put the white tray on the computer table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk Q: immediate next step? \u003cPRED\u003eA: put eye dressing box in the white tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put eye dressing box in the white tray\n\u003c/PRED\u003e","video":"9036731949937193804.mp4"}
+{"uid":"13465138942736858396","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the bowl 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":"11071792724868141599.mp4"}
+{"uid":"9276077996541330822","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":"9837054226827986983.mp4"}
+{"uid":"12182365177461804133","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":"3083888652229409599.mp4"}
+{"uid":"9542192853457423632","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the medicine box in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the medicine 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:success:discrete:False\u003e\nPut the medicine 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the medicine box in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: 1- open the door 2- put the solution bottle in the white tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the medicine box in the box 2- put the white tray on the computer table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: 1- open the door 2- put the solution bottle in the white tray Q: immediate next step? \u003cPRED\u003eA: Put the medicine box in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk Q: immediate next step? \u003cPRED\u003eA: Put the medicine box in the box\n\u003c/PRED\u003e","video":"12855822118272478221.mp4"}
+{"uid":"10427593047617296444","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":"8527370587382201995.mp4"}
+{"uid":"7533565839591970894","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the white glass upon the left pile 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":"4773487497908958651.mp4"}
+{"uid":"6338733926144368874","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the door 2- put the solution bottle in the white tray 3- Put the medicine box in the box 4- put the white tray on the computer table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk 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":"4533413511843431407.mp4"}
+{"uid":"9021214093126024980","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":"14005717510310064824.mp4"}
+{"uid":"16029847132182556201","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":"3790641116982979501.mp4"}
+{"uid":"6793091024365453654","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"12409587866261963170.mp4"}
+{"uid":"18441966004810990828","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a tray on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: 1- open the door 2- put the solution bottle in the white tray 3- Put the medicine box in the box 4- place a tray on a 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 a tray on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: 1- open the door 2- put the solution bottle in the white tray 3- Put the medicine box in the box 4- place a tray on a table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14162692842481763517.mp4"}
+{"uid":"8228949277587311779","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup Q: immediate next step? \u003cPRED\u003eA: put blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: 1- put black pen in the right holder 2- put blue pen in the left holder 3- put blue pen in the left holder 4- put blue pen in the left holder 5- put blue pen in the left holder 6- put black pen in the right holder 7- put black pen in the right holder 8- put black pen in the right holder 9- put black pen in the right holder 10- put black pen in the right holder 11- put blue pen in the left holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the left 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 left holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: 1- put black pen in the right holder 2- put blue pen in the left holder 3- put blue pen in the left holder 4- put blue pen in the left holder 5- put blue pen in the left holder 6- put black pen in the right holder 7- put black pen in the right holder 8- put black pen in the right holder 9- put black pen in the right holder 10- put black pen in the right holder 11- put blue pen in the left holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the left holder 2- put black pen in the right holder 3- done\n\u003c/PRED\u003e","video":"11315119283471697186.mp4"}
+{"uid":"2057638686012185314","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":"14270993008458513455.mp4"}
+{"uid":"15302376882047191575","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":"17078842875162657316.mp4"}
+{"uid":"6447896777798017707","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: 1- put black pen in the right holder 2- put blue pen in the left holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the left holder 2- put blue pen in the left holder 3- put blue pen in the left holder 4- put black pen in the right holder 5- put black pen in the right holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: 1- put black pen in the right holder 2- put blue pen in the left holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup Q: immediate next step? \u003cPRED\u003eA: put blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the left holder\n\u003c/PRED\u003e","video":"15089665922657299592.mp4"}
+{"uid":"16275940162452561064","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: 1- put black pen in the right holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the left 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 left holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: 1- put black pen in the right holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the left holder 2- put blue pen in the left holder 3- put blue pen in the left holder 4- put blue pen in the left holder 5- put black pen in the right holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in the left holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup Q: immediate next step? \u003cPRED\u003eA: put blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the left holder\n\u003c/PRED\u003e","video":"3888175467155632007.mp4"}
+{"uid":"6600714681319647516","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nwash cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7369402818443564521.mp4"}
+{"uid":"1893735038688363611","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: 1- put black pen in the right holder 2- put blue pen in the left holder 3- put blue pen in the left holder 4- put blue pen in the left holder 5- put blue pen in the left holder 6- put black pen in the right holder 7- put black pen in the right holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the right holder 2- put black pen in the right holder 3- put black pen in the right holder 4- put blue pen in the left holder 5- put blue pen in the left 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 right holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 right holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in the right holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: 1- put black pen in the right holder 2- put blue pen in the left holder 3- put blue pen in the left holder 4- put blue pen in the left holder 5- put blue pen in the left holder 6- put black pen in the right holder 7- put black pen in the right holder Q: immediate next step? \u003cPRED\u003eA: put black pen in the right holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup Q: immediate next step? \u003cPRED\u003eA: put black pen in the right holder\n\u003c/PRED\u003e","video":"1291084471221487145.mp4"}
+{"uid":"2838665645127742423","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the sanitizer bottle in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12226097590175681049.mp4"}
+{"uid":"1533274392591051305","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: 1- open the door 2- put the solution bottle in the white tray 3- Put the medicine box in the box Q: immediate next step? \u003cPRED\u003eA: put the white tray on the computer table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white tray on the computer table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 tray on the computer table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk Q: immediate next step? \u003cPRED\u003eA: put the white tray on the computer table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white tray on the computer table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white tray on the computer table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: 1- open the door 2- put the solution bottle in the white tray 3- Put the medicine box in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the white tray on the computer table 2- done\n\u003c/PRED\u003e","video":"11897861868801512720.mp4"}
+{"uid":"569901143625173831","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace black 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":"1163042638416576967.mp4"}
+{"uid":"14841470770449990936","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: 1- open the door Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plastic bottle in the box 2- Put the medicine box in the box 3- put the white tray on the computer table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plastic bottle in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plastic bottle in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plastic bottle in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: 1- open the door Q: immediate next step? \u003cPRED\u003eA: Put the plastic bottle in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plastic bottle in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk Q: immediate next step? \u003cPRED\u003eA: Put the plastic bottle in the box\n\u003c/PRED\u003e","video":"149984157120566429.mp4"}
+{"uid":"11716270986571100140","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":"4421622842470432710.mp4"}
+{"uid":"16550768026346318036","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the drawar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17362202550557181520.mp4"}
+{"uid":"13147594874845506957","text":"\u003ctask:success:discrete:True\u003e\nplace a soap box in a white 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 a soap box in a white tray\n\u003c/PRED\u003e","video":"12266620877271943796.mp4"}
+{"uid":"11333702856456369761","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: 1- put black pen in the right holder 2- put blue pen in the left holder 3- put blue pen in the left holder 4- put blue pen in the left holder 5- put blue pen in the left holder 6- put black pen in the right holder 7- put black pen in the right holder 8- put black pen in the right holder 9- put black pen in the right holder 10- put black pen in the right holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the left holder 2- put blue pen in the left holder 3- put black pen in the right holder 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: 1- put black pen in the right holder 2- put blue pen in the left holder 3- put blue pen in the left holder 4- put blue pen in the left holder 5- put blue pen in the left holder 6- put black pen in the right holder 7- put black pen in the right holder 8- put black pen in the right holder 9- put black pen in the right holder 10- put black pen in the right holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue pen in the left holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup Q: immediate next step? \u003cPRED\u003eA: put blue pen in the left holder\n\u003c/PRED\u003e","video":"3340461924648328903.mp4"}
+{"uid":"17012198845770773699","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup Q: immediate next step? \u003cPRED\u003eA: put black pen in the right holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the right holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: 1- put black pen in the right holder 2- put blue pen in the left holder 3- put blue pen in the left holder 4- put blue pen in the left holder 5- put blue pen in the left holder 6- put black pen in the right holder Q: immediate next step? \u003cPRED\u003eA: put black pen in the right holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 pen in the right holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: 1- put black pen in the right holder 2- put blue pen in the left holder 3- put blue pen in the left holder 4- put blue pen in the left holder 5- put blue pen in the left holder 6- put black pen in the right holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the right holder 2- put black pen in the right holder 3- put black pen in the right holder 4- put black pen in the right holder 5- put blue pen in the left holder\n\u003c/PRED\u003e","video":"13372007810359150788.mp4"}
+{"uid":"16441616763814536007","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the seaweed snacks 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":"15621572350358820391.mp4"}
+{"uid":"13013576943740187016","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":"12697462134954833180.mp4"}
+{"uid":"14117462407743345727","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup Q: immediate next step? \u003cPRED\u003eA: put black pen in the right holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: 1- put black pen in the right holder 2- put blue pen in the left holder 3- put blue pen in the left holder 4- put blue pen in the left holder 5- put blue pen in the left holder Q: immediate next step? \u003cPRED\u003eA: put black pen in the right 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 right holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: 1- put black pen in the right holder 2- put blue pen in the left holder 3- put blue pen in the left holder 4- put blue pen in the left holder 5- put blue pen in the left holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the right holder 2- put black pen in the right holder 3- put black pen in the right holder 4- put black pen in the right holder 5- put black pen in the right holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in the right holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 right holder\n\u003c/PRED\u003e","video":"15873384712193811310.mp4"}
+{"uid":"16868556267171096748","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a tray on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: 1- open the door 2- put the solution bottle in the white tray 3- Put the medicine box in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place a tray on a table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a tray on a table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk Q: immediate next step? \u003cPRED\u003eA: place a tray on a table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a tray on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: 1- open the door 2- put the solution bottle in the white tray 3- Put the medicine box in the box Q: immediate next step? \u003cPRED\u003eA: place a tray on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a tray on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13469757421629682447.mp4"}
+{"uid":"2481909857150323381","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the right holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup Q: immediate next step? \u003cPRED\u003eA: put black pen in the right holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: 1- put black pen in the right holder 2- put blue pen in the left holder 3- put blue pen in the left holder 4- put blue pen in the left holder 5- put blue pen in the left holder 6- put black pen in the right holder 7- put black pen in the right holder 8- put black pen in the right holder Q: immediate next step? \u003cPRED\u003eA: put black pen in the right holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: 1- put black pen in the right holder 2- put blue pen in the left holder 3- put blue pen in the left holder 4- put blue pen in the left holder 5- put blue pen in the left holder 6- put black pen in the right holder 7- put black pen in the right holder 8- put black pen in the right holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the right holder 2- put black pen in the right holder 3- put blue pen in the left holder 4- put blue pen in the left holder 5- put black pen in the right holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the right holder\n\u003c/PRED\u003e","video":"3721808282394800848.mp4"}
+{"uid":"2351261923838853321","text":"\u003ctask:success:discrete:True\u003e\nPut the medicine 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the medicine box in the box\n\u003c/PRED\u003e","video":"13726651227373245623.mp4"}
+{"uid":"9845319552635071625","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: 1- open the door Q: next 5 steps? \u003cPRED\u003eA: 1- place a bottle in a white tray 2- Put the medicine box in the box 3- put the white tray on the computer table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a bottle in a white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: 1- open the door Q: immediate next step? \u003cPRED\u003eA: place a bottle in a white tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk Q: immediate next step? \u003cPRED\u003eA: place a bottle in a white tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a bottle in a white tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a bottle in a white tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a bottle in a white 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":"1813900385738552602.mp4"}
+{"uid":"11196329069787725188","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup Q: immediate next step? \u003cPRED\u003eA: put black pen in the right holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: 1- put black pen in the right holder 2- put blue pen in the left holder 3- put blue pen in the left holder 4- put blue pen in the left holder 5- put blue pen in the left holder 6- put black pen in the right holder 7- put black pen in the right holder 8- put black pen in the right holder 9- put black pen in the right holder Q: immediate next step? \u003cPRED\u003eA: put black pen in the right 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 right holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the right holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: 1- put black pen in the right holder 2- put blue pen in the left holder 3- put blue pen in the left holder 4- put blue pen in the left holder 5- put blue pen in the left holder 6- put black pen in the right holder 7- put black pen in the right holder 8- put black pen in the right holder 9- put black pen in the right holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the right holder 2- put blue pen in the left holder 3- put blue pen in the left holder 4- put black pen in the right holder 5- done\n\u003c/PRED\u003e","video":"8642938451111867060.mp4"}
+{"uid":"11261957147149142463","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:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the door 2- put the solution bottle in the white tray 3- Put the medicine box in the box 4- put the white tray on the computer table 5- done\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e","video":"16200032224235700449.mp4"}
+{"uid":"2947710376998706632","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":"4898323523975463516.mp4"}
+{"uid":"10705331147752151362","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup Q: immediate next step? \u003cPRED\u003eA: put blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: 1- put black pen in the right holder 2- put blue pen in the left holder 3- put blue pen in the left holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the left 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 left holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: 1- put black pen in the right holder 2- put blue pen in the left holder 3- put blue pen in the left holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the left holder 2- put blue pen in the left holder 3- put black pen in the right holder 4- put black pen in the right holder 5- put black pen in the right holder\n\u003c/PRED\u003e","video":"9356032978314113117.mp4"}
+{"uid":"162770277157542362","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put eye dressing box in the white tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput eye dressing box in the white 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":"18231573598975832049.mp4"}
+{"uid":"5919061881632210029","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the box 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 first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk Q: immediate next step? \u003cPRED\u003eA: Put the box in the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: 1- open the door 2- put the solution bottle in the white tray 3- Put the medicine box in the box Q: immediate next step? \u003cPRED\u003eA: Put the box in the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the box 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the box in the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the box in the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: 1- open the door 2- put the solution bottle in the white tray 3- Put the medicine box in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the box in the table 2- done\n\u003c/PRED\u003e","video":"12436801289588770074.mp4"}
+{"uid":"13365173331692437917","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange 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":"5964528596415409868.mp4"}
+{"uid":"13150851937260535543","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the table 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":"11865085124525214159.mp4"}
+{"uid":"9059009337160290221","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the solution bottle in the white tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the solution bottle in the white 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":"10213748453590291299.mp4"}
+{"uid":"16144652882768355044","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk Q: immediate next step? \u003cPRED\u003eA: place a soap box in a white tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: 1- open the door 2- put the solution bottle in the white tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a soap box in a white tray 2- put the white tray on the computer table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a soap box in a white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a soap box in a white tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a soap box in a white tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: 1- open the door 2- put the solution bottle in the white tray Q: immediate next step? \u003cPRED\u003eA: place a soap box in a white tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a soap box in a white 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":"15372446469923382477.mp4"}
+{"uid":"5558608642554046917","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":"2483874810922390191.mp4"}
+{"uid":"6040468632426950186","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":"5957815471700991749.mp4"}
+{"uid":"4925960244781399420","text":"\u003ctask:success:discrete:True\u003e\nplace a bottle in a white 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 a bottle in a white tray\n\u003c/PRED\u003e","video":"18186234640088061814.mp4"}
+{"uid":"243539405062784578","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOn 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":"15783590625671528742.mp4"}
+{"uid":"17005294178516263341","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen green marker 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":"11888873689799147521.mp4"}
+{"uid":"542868315060915181","text":"\u003ctask:success:discrete:False\u003e\nput black pen in the right holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 pen in the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 right 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 right holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup Q: immediate next step? \u003cPRED\u003eA: put black pen in the right holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the right holder 2- put blue pen in the left holder 3- put blue pen in the left holder 4- put blue pen in the left holder 5- put blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put black pen in the right holder\n\u003c/PRED\u003e","video":"8994536982292802256.mp4"}
+{"uid":"10680318116305787392","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the solution bottle in the white tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the solution bottle in the white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: 1- open the door Q: next 5 steps? \u003cPRED\u003eA: 1- put the solution bottle in the white tray 2- Put the medicine box in the box 3- put the white tray on the computer table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: 1- open the door Q: immediate next step? \u003cPRED\u003eA: put the solution bottle in the white tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the solution bottle in the white 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: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk Q: immediate next step? \u003cPRED\u003eA: put the solution bottle in the white tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the solution bottle in the white tray\n\u003c/PRED\u003e","video":"6041292617688628014.mp4"}
+{"uid":"2833536991651303243","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the door 2- put the solution bottle in the white tray 3- Put the medicine box in the box 4- put the white tray on the computer table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5915536573705985622.mp4"}
+{"uid":"8371928685974399972","text":"\u003ctask:success:discrete:True\u003e\nPut the box 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:planning:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: 1- open the door 2- put the solution bottle in the white tray 3- Put the medicine box in the box 4- Put the box in the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Open the first aid box, grab a bottle of eye wash and a box of eye dresing and take it to Steves desk. last 20 steps: 1- open the door 2- put the solution bottle in the white tray 3- Put the medicine box in the box 4- Put the box in 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 box in the table\n\u003c/PRED\u003e","video":"12498781177730030166.mp4"}
+{"uid":"3718997893538741935","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup Q: immediate next step? \u003cPRED\u003eA: put black pen in the right holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput black pen in the right holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: 1- put black pen in the right holder 2- put blue pen in the left holder 3- put blue pen in the left holder 4- put blue pen in the left holder 5- put blue pen in the left holder 6- put black pen in the right holder 7- put black pen in the right holder 8- put black pen in the right holder 9- put black pen in the right holder 10- put black pen in the right holder 11- put blue pen in the left holder 12- put blue pen in the left holder Q: next 5 steps? \u003cPRED\u003eA: 1- put black pen in the right holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put black pen in the right holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black pen in the right holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: 1- put black pen in the right holder 2- put blue pen in the left holder 3- put blue pen in the left holder 4- put blue pen in the left holder 5- put blue pen in the left holder 6- put black pen in the right holder 7- put black pen in the right holder 8- put black pen in the right holder 9- put black pen in the right holder 10- put black pen in the right holder 11- put blue pen in the left holder 12- put blue pen in the left holder Q: immediate next step? \u003cPRED\u003eA: put black pen in the right holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput black pen in the right holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15155749484171719728.mp4"}
+{"uid":"15487479984352809721","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":"16720418932072413967.mp4"}
+{"uid":"8441254880028084410","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue pen in the left holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup Q: immediate next step? \u003cPRED\u003eA: put blue pen in the left holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: 1- put black pen in the right holder 2- put blue pen in the left holder 3- put blue pen in the left holder 4- put blue pen in the left holder Q: next 5 steps? \u003cPRED\u003eA: 1- put blue pen in the left holder 2- put black pen in the right holder 3- put black pen in the right holder 4- put black pen in the right holder 5- put black pen in the right holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please sort the blue and black pens ino its own cup. last 20 steps: 1- put black pen in the right holder 2- put blue pen in the left holder 3- put blue pen in the left holder 4- put blue pen in the left holder Q: immediate next step? \u003cPRED\u003eA: put blue pen in the left holder\n\u003c/PRED\u003e","video":"11385513617929374449.mp4"}
+{"uid":"3954843021647025054","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","video":"11676431340765257166.mp4"}
+{"uid":"14504440071219287785","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace sticky notes 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":"15494274187281173176.mp4"}
+{"uid":"14154485729805007254","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":"4972290593780874895.mp4"}
+{"uid":"3447327953686142220","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","video":"6996832620172007351.mp4"}
+{"uid":"17388178156093480009","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":"12312863741626082321.mp4"}
+{"uid":"8671735086656638206","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the bins Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5520843683327818939.mp4"}
+{"uid":"14798918528128351077","text":"\u003ctask:success:discrete:True\u003e\nplace a white chip packet in a 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 a white chip packet in a tray\n\u003c/PRED\u003e","video":"213132184872337247.mp4"}
+{"uid":"15832152876359555557","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a tray 10- put the white packet into the tray 11- place a white chip packet in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a white chip packet in a tray 2- put the  white packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a tray 10- put the white packet into the tray 11- place a white chip packet in a tray Q: immediate next step? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a white chip packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a white chip packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"766572925941267681.mp4"}
+{"uid":"17433885981848130151","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":"8647489935441501433.mp4"}
+{"uid":"9070588474634632864","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":"1290841034991986528.mp4"}
+{"uid":"13051604913884210929","text":"\u003ctask:success:discrete:True\u003e\nplace a white chip packet in a 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 a white chip packet in a tray\n\u003c/PRED\u003e","video":"6590272566199593130.mp4"}
+{"uid":"17727567071317090333","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the paper cup 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":"12993089228112464646.mp4"}
+{"uid":"6544574860739918247","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cups in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5705157635361234630.mp4"}
+{"uid":"17810728576976992892","text":"\u003ctask:success:discrete:True\u003e\nplace a white chip packet in a 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 a white chip packet in a tray\n\u003c/PRED\u003e","video":"4526710035201084407.mp4"}
+{"uid":"9976112595501930191","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray Q: immediate next step? \u003cPRED\u003eA: put the  white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \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: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: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: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the  white packet in the tray 2- put the white packet into the tray 3- place a white chip packet in a tray 4- put the  white packet in the tray 5- put the  white packet in the tray\n\u003c/PRED\u003e","video":"12922411721596745316.mp4"}
+{"uid":"612923171897912121","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a brown chip packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the  white packet in the tray 4- place a white chip packet in a tray 5- place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a brown chip packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place a brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place a brown chip packet in a tray\n\u003c/PRED\u003e","video":"3961380710741826741.mp4"}
+{"uid":"8465850556447379865","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":"17241532542393248586.mp4"}
+{"uid":"13159109060742769653","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sugar candy in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18350957720045899866.mp4"}
+{"uid":"5465661904715622464","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a white chip packet in a tray 2- place a white chip packet in a tray 3- put the  white packet in the tray 4- put the  white packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a tray Q: immediate next step? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a white chip packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a tray Q: immediate next step? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet into the tray 2- place a white chip packet in a tray 3- put the  white packet in the tray 4- put the  white packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a white chip packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14211774614413124631.mp4"}
+{"uid":"17796241721365162386","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK 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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a tray 10- put the white packet into the tray 11- place a white chip packet in a tray 12- put the  white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the  white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a tray 10- put the white packet into the tray 11- place a white chip packet in a tray 12- put the  white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the  white packet in the tray 2- 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\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","video":"6709009156855938659.mp4"}
+{"uid":"5764806411089360859","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4929304864027732345.mp4"}
+{"uid":"14412553227323130068","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":"9835183347718717954.mp4"}
+{"uid":"5579167874612628120","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate crunch 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":"15703168367462818887.mp4"}
+{"uid":"15586236682120505422","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":"17432417366764895006.mp4"}
+{"uid":"3019571297941575586","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a brown packet in small 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":"15163611283864856231.mp4"}
+{"uid":"13119255156705932733","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a tray 10- put the white packet into the tray Q: immediate next step? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a tray 10- put the white packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a white chip packet in a tray 2- put the  white packet in the tray 3- put the  white packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a white chip packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12712032244486638023.mp4"}
+{"uid":"9523976111793581718","text":"\u003ctask:success:discrete:False\u003e\nplace a white chip packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a white chip packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a white chip packet in a tray 2- place a white chip packet in a tray 3- place a white chip packet in a tray 4- put the white packet into the tray 5- place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e","video":"4921685956594727638.mp4"}
+{"uid":"7527132761026020230","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white pebble in the left transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10351490925486340296.mp4"}
+{"uid":"7653640515817290131","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":"2398228769517747239.mp4"}
+{"uid":"13000086513273538199","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a tray 10- put the white packet into the tray 11- place a white chip packet in a tray Q: immediate next step? \u003cPRED\u003eA: put the  white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK 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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a tray 10- put the white packet into the tray 11- place a white chip packet in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the  white packet in the tray 2- put the  white packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the  white packet in the tray\n\u003c/PRED\u003e","video":"4420518274533838911.mp4"}
+{"uid":"7327942831485954594","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":"7974519258281423206.mp4"}
+{"uid":"3777010712191935058","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the  white packet in the tray 2- place a white chip packet in a tray 3- put the  white packet in the tray 4- put the  white packet in the tray 5- done\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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a 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: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:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the  white packet in the tray\n\u003c/PRED\u003e","video":"12787747593544411863.mp4"}
+{"uid":"14129829648214897723","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet into the tray 2- put the  white packet in the tray 3- place a white chip packet in a tray 4- place a white chip packet in a tray 5- put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2115036936550214630.mp4"}
+{"uid":"8566446854456880093","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a tray 10- put the white packet into the tray 11- place a white chip packet in a tray 12- put the  white packet in the tray Q: immediate next step? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a white chip packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a tray 10- put the white packet into the tray 11- place a white chip packet in a tray 12- put the  white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a white chip packet in a tray 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a white chip packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1087190730824990457.mp4"}
+{"uid":"2488438697500843632","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet into the tray 2- place a white chip packet in a tray 3- place a white chip packet in a tray 4- put the white packet into the tray 5- place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e","video":"8124812985432437758.mp4"}
+{"uid":"4366916205453298926","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":"13018197675112786027.mp4"}
+{"uid":"14319483748812031526","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place a brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a brown chip packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place a brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a brown chip packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray\n\u003c/PRED\u003e","video":"5947333391845368386.mp4"}
+{"uid":"658883711774811311","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet into the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the  white packet in the tray 5- place a white chip packet in a tray\n\u003c/PRED\u003e","video":"264526414797297310.mp4"}
+{"uid":"14993253230873961640","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place a brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray Q: immediate next step? \u003cPRED\u003eA: place a brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a brown chip packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a brown chip packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12526198932163963890.mp4"}
+{"uid":"3557163743644912819","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:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK 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: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the packet in the tray 3- put the  white packet in the tray 4- place a white chip packet in a tray 5- place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"593665667722203800.mp4"}
+{"uid":"17474084869313434251","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the duster Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12194496144698973531.mp4"}
+{"uid":"4153499516440966851","text":"\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: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the  white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the  white packet in the tray 2- place a white chip packet in a tray 3- put the white packet into the tray 4- place a white chip packet in a tray 5- 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: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: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the  white packet in the tray\n\u003c/PRED\u003e","video":"15880539118058077272.mp4"}
+{"uid":"7699500584114898819","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the 5th pen place it on the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15381823858525427015.mp4"}
+{"uid":"10951481907743459825","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":"8674430491383763697.mp4"}
+{"uid":"2029974066939711620","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":"10064020649837763157.mp4"}
+{"uid":"15260722122429749640","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet into the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1046427619000503705.mp4"}
+{"uid":"5818431366925780663","text":"\u003ctask:success:discrete:False\u003e\nput the white packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet into the tray 2- put the white packet into the tray 3- place a white chip packet in a tray 4- put the  white packet in the tray 5- 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 into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray Q: immediate next step? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e","video":"11367171314586931601.mp4"}
+{"uid":"177079322078228852","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9901571144618606046.mp4"}
+{"uid":"17283316700961161516","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pink 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":"1443785306598073110.mp4"}
+{"uid":"5527039707237855589","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a tray 10- put the white packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet into the tray 2- put the  white packet in the tray 3- put the  white packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a tray 10- put the white packet into the tray Q: immediate next step? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e","video":"2923277933634714278.mp4"}
+{"uid":"13104156767944736608","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick another pink color packet and put it 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":"4776977330878785483.mp4"}
+{"uid":"17715605127075292156","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a white chip packet in a tray 2- put the white packet into the tray 3- place a white chip packet in a tray 4- put the  white packet in the tray 5- 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: place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a white chip packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray Q: immediate next step? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e","video":"4254457353430230599.mp4"}
+{"uid":"6737895702928808337","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":"7315182471181442594.mp4"}
+{"uid":"6348966780787079814","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue marker in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7553277930911276893.mp4"}
+{"uid":"3362731812024941868","text":"\u003ctask:success:discrete:False\u003e\nput the white packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a tray 10- put the white packet into the tray 11- place a white chip packet in a tray Q: immediate next step? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a tray 10- put the white packet into the tray 11- place a white chip packet in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet into the tray 2- put the  white packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6144838096705554695.mp4"}
+{"uid":"3030032526025880954","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":"4369534384547446837.mp4"}
+{"uid":"9556379562692671898","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":"15133635038001263491.mp4"}
+{"uid":"9707501233664729663","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a brown chip packet in a 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":"10587387743358371618.mp4"}
+{"uid":"8053053884384795535","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":"1738785524873214205.mp4"}
+{"uid":"243121258466077045","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace tissue papers on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3887672952846068816.mp4"}
+{"uid":"5616504893337181471","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: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: Restock the snack tray in the MK 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: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the  white packet in the tray 3- place a white chip packet in a tray 4- place a white chip packet in a tray 5- put the white packet into the tray\n\u003c/PRED\u003e","video":"14598229712849095092.mp4"}
+{"uid":"9268523822297633285","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a white chip packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a white chip packet in a tray 2- place a white chip packet in a tray 3- put the white packet into the tray 4- place a white chip packet in a tray 5- put the  white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray Q: immediate next step? \u003cPRED\u003eA: place a white chip packet in a tray\n\u003c/PRED\u003e","video":"1193350150458329426.mp4"}
+{"uid":"16406577665124519591","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a tray 10- put the white packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the  white packet in the tray 2- put the  white packet in the tray 3- put the  white packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a tray 10- put the white packet into the tray Q: immediate next step? \u003cPRED\u003eA: put the  white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK 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\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","video":"8003360780506318939.mp4"}
+{"uid":"12752297329879103227","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp 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":"11745144456707453721.mp4"}
+{"uid":"10163832415551190349","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":"5982002604220173712.mp4"}
+{"uid":"12705236599318644078","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet into the tray 2- put the packet in the tray 3- put the  white packet in the tray 4- place a white chip packet in a tray 5- place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13823132971595659051.mp4"}
+{"uid":"800227546279829395","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the plates 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\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the brown object from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9636969650106197534.mp4"}
+{"uid":"4990798079424008953","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a tray 10- put the white packet into the tray 11- place a white chip packet in a tray 12- put the  white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a tray 10- put the white packet into the tray 11- place a white chip packet in a tray 12- put the  white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet into the tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e","video":"4118512905380359675.mp4"}
+{"uid":"11195444760060258049","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":"10757398273656346920.mp4"}
+{"uid":"177262990402919232","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":"10609944529347030415.mp4"}
+{"uid":"12861708233017465453","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet into the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the tray\n\u003c/PRED\u003e","video":"9176299529466451542.mp4"}
+{"uid":"16575407411620966775","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: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask: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: Restock the snack tray in the MK 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: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the  white packet in the tray 5- place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"2401859214830746831.mp4"}
+{"uid":"16236756409249370428","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a sugar pouch 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":"1323485853031023061.mp4"}
+{"uid":"14126233641328347328","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":"6607671706066771369.mp4"}
+{"uid":"13863762680965164649","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet into the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the  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 brown packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the brown packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17106596046620892745.mp4"}
+{"uid":"3271064067721008968","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"549477652716266061.mp4"}
+{"uid":"10306791438229981881","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the  white packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the  white packet in the tray 2- place a white chip packet in a tray 3- place a white chip packet in a tray 4- put the white packet into the tray 5- place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the  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: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: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":"2133116858540105321.mp4"}
+{"uid":"11950042995555435304","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the kettle 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":"13373152552777403579.mp4"}
+{"uid":"499596504315125627","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":"2305320617915772915.mp4"}
+{"uid":"3964592517041086577","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a brown chip packet in a tray 2- put the  white packet in the tray 3- place a white chip packet in a tray 4- place a white chip packet in a tray 5- put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place a brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a brown chip packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place a brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a brown chip packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9762842053487903028.mp4"}
+{"uid":"18339465386536736132","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace glass 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":"14683907790891628128.mp4"}
+{"uid":"5011390581722789171","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a tray 10- put the white packet into the tray 11- place a white chip packet in a tray 12- put the  white packet in the tray 13- 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: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray 8- place a white chip packet in a tray 9- place a white chip packet in a tray 10- put the white packet into the tray 11- place a white chip packet in a tray 12- put the  white packet in the tray 13- 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the  white packet in the tray\n\u003c/PRED\u003e","video":"15992552745014029876.mp4"}
+{"uid":"16089690316600255650","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray 6- put the packet in the tray 7- put the  white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet into the tray 2- place a white chip packet in a tray 3- put the white packet into the tray 4- place a white chip packet in a tray 5- put the  white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the white packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3756890798819670112.mp4"}
+{"uid":"7334410964406939925","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place a brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a brown chip packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place a brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the  white packet in the tray 5- place a white chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a brown chip packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11702877796258655851.mp4"}
+{"uid":"1693579143053329758","text":"\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance: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: Restock the snack tray in the MK 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":"15674315959792437946.mp4"}
+{"uid":"1578006918857102486","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":"17524165294438519716.mp4"}
+{"uid":"5003077546509622801","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","video":"14244027699434451953.mp4"}
+{"uid":"1631770930200681758","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: place a brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place a brown chip packet in a tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the  white packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a brown chip packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place a brown chip packet in a tray\n\u003c/PRED\u003e","video":"13605144570409098806.mp4"}
+{"uid":"3640867523001675043","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK 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: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"1218124431090586354.mp4"}
+{"uid":"16528888496682190519","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the packet in the tray 3- put the packet in the tray 4- put the packet in the tray 5- put the  white 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Restock the snack tray in the MK . last 20 steps: 1- place a brown chip packet in a tray 2- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask: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: Restock the snack tray in the MK Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"7682283031394471751.mp4"}
+{"uid":"7585116558119343294","text":"\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 pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side 3- place the nuts into the paper bowl Q: immediate next step? \u003cPRED\u003eA: put tissue paper on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side 3- place the nuts into the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue paper on the table 2- done\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\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:planning:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin Q: immediate next step? \u003cPRED\u003eA: put tissue paper on the table\n\u003c/PRED\u003e","video":"10418880489039010209.mp4"}
+{"uid":"1574706394868528956","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side 3- place the nuts into the paper bowl Q: immediate next step? \u003cPRED\u003eA: place the napkin on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the napkin on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin Q: immediate next step? \u003cPRED\u003eA: place the napkin on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the napkin on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the napkin on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side 3- place the nuts into the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the napkin on the table 2- place the spoon into the paper bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the napkin on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8810083085000249049.mp4"}
+{"uid":"13597615742651491100","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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray 8- put a candy into jar 9- Place the jar back Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink candy in the jar 2- drop the few candies in a glass jar 3- put a candy into jar 4- done\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: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: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: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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray 8- put a candy into jar 9- Place the jar back Q: immediate next step? \u003cPRED\u003eA: Put the pink candy in the jar\n\u003c/PRED\u003e","video":"7366053777688705100.mp4"}
+{"uid":"12796896512064197415","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on 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- drop the brown chip bag in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the tray 2- drop the brown chip packet in a tray 3- put a brown packet into tray 4- put a brown packet into tray 5- put a brown packet into tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- drop the brown chip bag in a tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on 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 on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6485828318898194099.mp4"}
+{"uid":"15511675909111671754","text":"\u003ctask:success:discrete:True\u003e\nplace the cup right side Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup right side\n\u003c/PRED\u003e","video":"4960537955333706411.mp4"}
+{"uid":"15721185783591348427","text":"\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: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup on the table 2- place the nuts into the paper bowl 3- place the napkin on the table 4- place the spoon into the paper bowl 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup on the table\n\u003c/PRED\u003e","video":"6834241378313014403.mp4"}
+{"uid":"5172033450558948162","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16977343141194946393.mp4"}
+{"uid":"13299307231585967115","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put two candies into jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put two candies 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 two candies 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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray 8- put a candy into jar 9- Place the jar back 10- drop the pink candy in a glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put two candies into jar 2- put a candy into jar 3- 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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray 8- put a candy into jar 9- Place the jar back 10- drop the pink candy in a glass jar Q: immediate next step? \u003cPRED\u003eA: put two candies into jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput two candies 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:affordance:discriminative:discrete:True\u003e\nput two candies 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","video":"1085887812670464378.mp4"}
+{"uid":"1590849995284490064","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut paper glasses 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":"1303708593473114200.mp4"}
+{"uid":"9700889393770178946","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":"5910139479920052115.mp4"}
+{"uid":"58615410838460025","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellowish brown chocolate in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5533307770630885694.mp4"}
+{"uid":"9353238081854184897","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 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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray 8- put a candy into jar 9- Place the jar back 10- drop the pink candy in a glass jar 11- drop the few candies in a glass 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: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: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: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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray 8- put a candy into jar 9- Place the jar back 10- drop the pink candy in a glass jar 11- drop the few candies in a glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow candy in the jar 2- done\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":"14972605063521660145.mp4"}
+{"uid":"17002260386310585455","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut blue cup 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":"1723242302891986876.mp4"}
+{"uid":"2211280694340177471","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pink candy in a glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pink candy in a 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":"8272549797977482685.mp4"}
+{"uid":"9441530565721214580","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":"11054795356940306451.mp4"}
+{"uid":"3722031713788354652","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black pen into the pen case Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10039470569600086155.mp4"}
+{"uid":"14514101502526101358","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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the tray 2- put a candy into jar 3- Place the jar back 4- drop the pink candy in a glass jar 5- drop the few candies in a glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on 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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the packet on the tray\n\u003c/PRED\u003e","video":"13296302036615330101.mp4"}
+{"uid":"17801926036648306801","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a brown packet into 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- drop the brown chip bag in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- put a brown packet into tray 2- drop the brown chip packet in a tray 3- put a brown packet into tray 4- put a brown packet into tray 5- put a brown packet into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a brown packet into 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 a brown packet into 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- drop the brown chip bag in a tray Q: immediate next step? \u003cPRED\u003eA: put a brown packet into tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a brown packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 into tray\n\u003c/PRED\u003e","video":"10283194534551680475.mp4"}
+{"uid":"2367184670606617271","text":"\u003ctask:success:discrete:True\u003e\ndrop the brown chip packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the brown chip packet in a tray\n\u003c/PRED\u003e","video":"7459067118561771667.mp4"}
+{"uid":"16178151754872523299","text":"\u003ctask:success:discrete:True\u003e\nput a brown packet into 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 into tray\n\u003c/PRED\u003e","video":"11488976766775977802.mp4"}
+{"uid":"8904867267006024878","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":"1279788372636015798.mp4"}
+{"uid":"15546235307094480313","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the packet on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8095347653803176816.mp4"}
+{"uid":"5381517656127461133","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the container 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":"9199197835964332850.mp4"}
+{"uid":"15710863465690380217","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: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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray 8- put a candy into jar 9- Place the jar back 10- drop the pink candy in a glass jar 11- drop the few candies in a glass 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: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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray 8- put a candy into jar 9- Place the jar back 10- drop the pink candy in a glass jar 11- drop the few candies in a glass jar 12- put a candy into jar Q: immediate next step? \u003cPRED\u003eA: done\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":"11578789982336994420.mp4"}
+{"uid":"9217467719117793284","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brown chip packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray Q: immediate next step? \u003cPRED\u003eA: drop the brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brown chip packet in a 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: drop the brown chip packet in a 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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brown chip packet in a tray 2- put a brown packet into tray 3- put a brown packet into tray 4- put a brown packet into tray 5- put a candy into jar\n\u003c/PRED\u003e","video":"9539959185913985036.mp4"}
+{"uid":"11752211625111909605","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: keep the bowl upright\n\u003c/PRED\u003e\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","video":"11957664557563530746.mp4"}
+{"uid":"17977454237654898537","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the brown 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":"4084280786598353311.mp4"}
+{"uid":"16009233630884131151","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up numi 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":"8946175399047531536.mp4"}
+{"uid":"2848605101621759666","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin Q: immediate next step? \u003cPRED\u003eA: place the nuts into the paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side Q: immediate next step? \u003cPRED\u003eA: place the nuts into the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the nuts into the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the nuts into the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the nuts into the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the nuts into the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side Q: next 5 steps? \u003cPRED\u003eA: 1- place the nuts into the paper bowl 2- place the napkin on the table 3- place the spoon into the paper bowl 4- done\n\u003c/PRED\u003e","video":"282030499362963401.mp4"}
+{"uid":"11291317785253378938","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:success:discrete:False\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin Q: immediate next step? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side 3- place the nuts into the paper bowl 4- place the napkin on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the cup 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side 3- place the nuts into the paper bowl 4- place the napkin on the table Q: immediate next step? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e","video":"5345761207684398966.mp4"}
+{"uid":"1812986312667721690","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the nuts into the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the nuts into the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11328392764793116825.mp4"}
+{"uid":"9520855935768069551","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on 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 on the tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into 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 on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: 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 on the tray\n\u003c/PRED\u003e","video":"12405187116637827540.mp4"}
+{"uid":"2317314279747080022","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":"9064410112574564934.mp4"}
+{"uid":"9348722395423092141","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin Q: immediate next step? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side Q: immediate next step? \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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side Q: next 5 steps? \u003cPRED\u003eA: 1- put glass on the table 2- place the spoon into the paper bowl 3- done\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: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","video":"3444916235698398238.mp4"}
+{"uid":"1369163668650942456","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"12330258007558858698.mp4"}
+{"uid":"5833862389225506482","text":"\u003ctask:success:discrete:True\u003e\ndrop the brown chip packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the brown chip packet in a tray\n\u003c/PRED\u003e","video":"10278735255578360465.mp4"}
+{"uid":"14811146310002323702","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the right pista glass on left table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16856078225963734553.mp4"}
+{"uid":"6297853855891630902","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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the tray 2- put a brown packet into tray 3- put a brown packet into tray 4- put a candy into jar 5- Place the jar back\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 on the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the tray\n\u003c/PRED\u003e","video":"15316813195260535061.mp4"}
+{"uid":"404185604490089763","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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray Q: immediate next step? \u003cPRED\u003eA: put a brown packet into tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a brown packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- put a brown packet into tray 2- put a candy into jar 3- Place the jar back 4- drop the pink candy in a glass jar 5- drop the few candies in a glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a brown packet into 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 into tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a brown packet into tray\n\u003c/PRED\u003e","video":"9979935803596970263.mp4"}
+{"uid":"16118924179212846129","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the spoon into the paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the spoon into the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side 3- place the nuts into the paper bowl 4- place the napkin on the table 5- place the spoon into the paper bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side 3- place the nuts into the paper bowl 4- place the napkin on the table 5- place the spoon into the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"15613070373718346573.mp4"}
+{"uid":"7929432846304379687","text":"\u003ctask:success:discrete:True\u003e\ndrop the coffee cereals 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: drop the coffee cereals in the cup\n\u003c/PRED\u003e","video":"4756681272654842611.mp4"}
+{"uid":"6461969048842374128","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":"9532057214254094163.mp4"}
+{"uid":"18312436115845475228","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":"13256081936332801506.mp4"}
+{"uid":"11464330918579403290","text":"\u003ctask:success:discrete:True\u003e\nput 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side 3- place the nuts into the paper bowl 4- place the napkin on the table 5- put the spoon in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side 3- place the nuts into the paper bowl 4- place the napkin on the table 5- put the spoon in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the spoon in the cup\n\u003c/PRED\u003e","video":"9393552442033789705.mp4"}
+{"uid":"8739651598467589199","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour chick peas into the bowl\n\u003c/PRED\u003e","video":"13012800715375559987.mp4"}
+{"uid":"13764978839825478873","text":"\u003ctask:success:discrete:False\u003e\ndrop the pink candy in a glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pink candy in a glass 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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray 8- put a candy into jar 9- Place the jar back Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pink candy in a glass jar 2- drop the few candies in a glass jar 3- put a candy into 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: drop the pink candy in a glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pink candy in a glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pink candy in a glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray 8- put a candy into jar 9- Place the jar back Q: immediate next step? \u003cPRED\u003eA: drop the pink candy in a glass jar\n\u003c/PRED\u003e","video":"6022938368532083404.mp4"}
+{"uid":"7784930430934709234","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":"12260368083161059122.mp4"}
+{"uid":"16654173000455768457","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side 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 cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side Q: next 5 steps? \u003cPRED\u003eA: 1- pour chick peas into the bowl 2- place the napkin on the table 3- place the spoon into the paper bowl 4- done\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\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 cereal into the bowl and than grab me a spoon and a napkin Q: immediate next step? \u003cPRED\u003eA: pour chick peas into the bowl\n\u003c/PRED\u003e","video":"13355460057779238169.mp4"}
+{"uid":"8499673486951167057","text":"\u003ctask:success:discrete:False\u003e\nplace the tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side 3- place the nuts into the paper bowl Q: immediate next step? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side 3- place the nuts into the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the tissue on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin Q: immediate next step? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the tissue on the table\n\u003c/PRED\u003e","video":"7722228956163207266.mp4"}
+{"uid":"1811322435599610027","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the trolley 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":"15256549632503610569.mp4"}
+{"uid":"11541286211491901958","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brown chip packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brown chip packet in a 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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray Q: immediate next step? \u003cPRED\u003eA: drop the brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brown chip packet in a 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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brown chip packet in a tray 2- put a brown packet into tray 3- put a candy into jar 4- Place the jar back 5- drop the pink candy in a glass 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: drop the brown chip packet in a tray\n\u003c/PRED\u003e","video":"18270916034900287205.mp4"}
+{"uid":"18406805764564768070","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the few candies in a glass 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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray 8- put a candy into jar 9- Place the jar back 10- drop the pink candy in a glass jar Q: immediate next step? \u003cPRED\u003eA: drop the few candies in a glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the few candies in a glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: drop the few candies in a glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the few candies in a glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray 8- put a candy into jar 9- Place the jar back 10- drop the pink candy in a glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- drop the few candies in a glass jar 2- put a candy into jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the few candies in a glass jar\n\u003c/PRED\u003e","video":"17346599107956675225.mp4"}
+{"uid":"10054761367834915004","text":"\u003ctask:success:discrete:True\u003e\ndrop the brown chip packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the brown chip packet in a tray\n\u003c/PRED\u003e","video":"18365159419835325484.mp4"}
+{"uid":"6964585055736079418","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":"14057441475674534488.mp4"}
+{"uid":"8094323926714714064","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side 3- place the nuts into the paper bowl 4- place the tissue on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side 3- place the nuts into the paper bowl 4- place the tissue 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 tissue on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9788527919657118376.mp4"}
+{"uid":"14986273875082864712","text":"\u003ctask:success:discrete:True\u003e\nput a brown packet into 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 into tray\n\u003c/PRED\u003e","video":"12853424372344260035.mp4"}
+{"uid":"16781281693664433959","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packets in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5677508739406000260.mp4"}
+{"uid":"16282172620625651698","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a knife in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7303475508701592057.mp4"}
+{"uid":"13907253486288747902","text":"\u003ctask:success:discrete:False\u003e\nPlace the jar 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: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray 8- put a candy into jar Q: immediate next step? \u003cPRED\u003eA: Place the jar back\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the jar back\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 jar back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the jar 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: Place the jar back\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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray 8- put a candy into jar Q: next 5 steps? \u003cPRED\u003eA: 1- Place the jar back 2- drop the pink candy in a glass jar 3- drop the few candies in a glass jar 4- put a candy into jar 5- done\n\u003c/PRED\u003e","video":"5921499608454926856.mp4"}
+{"uid":"17900497787492943962","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow candy in a glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the yellow candy in a 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: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: drop the yellow candy in a glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow candy in a glass 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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray 8- put a candy into jar 9- Place the jar back 10- drop the pink candy in a glass jar 11- drop the few candies in a glass jar Q: immediate next step? \u003cPRED\u003eA: drop the yellow candy in a glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow candy in a glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar. last 20 steps: 1- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray 8- put a candy into jar 9- Place the jar back 10- drop the pink candy in a glass jar 11- drop the few candies in a glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow candy in a glass jar 2- done\n\u003c/PRED\u003e","video":"2964788694765744109.mp4"}
+{"uid":"14694401098527736302","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":"9272930259250705672.mp4"}
+{"uid":"3115102094182414627","text":"\u003ctask:success:discrete:False\u003e\nplace the cup 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: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup right side 2- place the nuts into the paper bowl 3- place the napkin on the table 4- place the spoon into the paper bowl 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin Q: immediate next step? \u003cPRED\u003eA: place the cup right side\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup right side\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the cup right side\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup right side\n\u003c/PRED\u003e","video":"17214408960222104417.mp4"}
+{"uid":"310102785061674892","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the blue file on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5010014615541799737.mp4"}
+{"uid":"808851173244458520","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":"2245246607563496578.mp4"}
+{"uid":"7324894636323775744","text":"\u003ctask:success:discrete:False\u003e\nplace the coffee cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin Q: immediate next step? \u003cPRED\u003eA: place the coffee cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side Q: next 5 steps? \u003cPRED\u003eA: 1- place the coffee cup on the table 2- place the spoon into the paper bowl 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the coffee cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the coffee cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side Q: immediate next step? \u003cPRED\u003eA: place the coffee cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the coffee cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8828673949598319009.mp4"}
+{"uid":"9050268052720701960","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":"14171630482960767416.mp4"}
+{"uid":"15739442491565362557","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: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: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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray 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: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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pink candy in the jar 2- Place the jar back 3- drop the pink candy in a glass jar 4- drop the few candies in a glass jar 5- put a candy into 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","video":"13288432580001421719.mp4"}
+{"uid":"13391589607893053530","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the packet on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16426856477667540845.mp4"}
+{"uid":"10273897714360906014","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the choco 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":"16482490593599384579.mp4"}
+{"uid":"5132953751648092343","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: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: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: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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- put a candy into jar 2- Place the jar back 3- drop the pink candy in a glass jar 4- drop the few candies in a glass jar 5- 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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray Q: immediate next step? \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":"1070925403927297119.mp4"}
+{"uid":"11326976621010425986","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cup up straight\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cup up 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":"3591239217709217442.mp4"}
+{"uid":"16376380418750845780","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the paper 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":"10611540352579962020.mp4"}
+{"uid":"8477084264540867018","text":"\u003ctask:success:discrete:True\u003e\ndrop the brown chip bag in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the brown chip bag in a tray\n\u003c/PRED\u003e","video":"9940471227681026747.mp4"}
+{"uid":"14335311036214801346","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin Q: immediate next step? \u003cPRED\u003eA: drop the coffee cereals in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side Q: immediate next step? \u003cPRED\u003eA: drop the coffee cereals in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the coffee cereals in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the coffee cereals in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side Q: next 5 steps? \u003cPRED\u003eA: 1- drop the coffee cereals in the cup 2- place the napkin on the table 3- place the spoon into the paper bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the coffee cereals in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the coffee cereals in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16988698722577481998.mp4"}
+{"uid":"1540143006184073432","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":"9292967265385787151.mp4"}
+{"uid":"7417395927421948581","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":"10732451684570600361.mp4"}
+{"uid":"8789924772837046000","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":"14595428624115323060.mp4"}
+{"uid":"5287573062264880807","text":"\u003ctask:success:discrete:True\u003e\ndrop the brown chip packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the brown chip packet in a tray\n\u003c/PRED\u003e","video":"9518548481195470964.mp4"}
+{"uid":"2985332245061424722","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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray 8- put a candy into jar 9- Place the jar back 10- drop the pink candy in a glass jar 11- drop the few candies in a glass jar 12- drop the yellow candy in a glass jar 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 the basket tray, and then put the candy into the jar. last 20 steps: 1- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray 8- put a candy into jar 9- Place the jar back 10- drop the pink candy in a glass jar 11- drop the few candies in a glass jar 12- drop the yellow candy in a glass jar Q: immediate next step? \u003cPRED\u003eA: 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\ndrop the yellow candy in a glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the yellow candy in a glass jar\n\u003c/PRED\u003e","video":"12007185795522026671.mp4"}
+{"uid":"13271504346202739421","text":"\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: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: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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray 8- put a candy into jar 9- Place the jar back 10- drop the pink candy in a glass jar Q: immediate next step? \u003cPRED\u003eA: Put the yellow candy in the jar\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: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: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: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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray 8- put a candy into jar 9- Place the jar back 10- drop the pink candy in a glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the yellow candy in the jar 2- put a candy into jar 3- done\n\u003c/PRED\u003e","video":"14415069007379822028.mp4"}
+{"uid":"11230175109435480888","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange object 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":"854249300954516530.mp4"}
+{"uid":"3082701593593378447","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a brown packet into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a brown packet into 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":"182624783729590990.mp4"}
+{"uid":"14675193837523349088","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: keep the bowl upright\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin Q: immediate next step? \u003cPRED\u003eA: keep the bowl upright\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep the bowl upright\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- keep the bowl upright 2- place the cup right side 3- place the nuts into the paper bowl 4- place the napkin on the table 5- place the spoon into the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep the bowl 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\nkeep the bowl upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the bowl upright\n\u003c/PRED\u003e","video":"12800390767623579407.mp4"}
+{"uid":"5420604763889855433","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":"10008324083063644040.mp4"}
+{"uid":"1784046223341769140","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: drop the brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brown chip packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the brown chip packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brown chip packet in a tray 2- put a candy into jar 3- Place the jar back 4- drop the pink candy in a glass jar 5- drop the few candies in a glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brown chip packet in a 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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray Q: immediate next step? \u003cPRED\u003eA: drop the brown chip packet in a tray\n\u003c/PRED\u003e","video":"16232659844366187677.mp4"}
+{"uid":"14409150033184445598","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bunch of grapes in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8338940226436058306.mp4"}
+{"uid":"5626951228001333749","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon into the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side 3- place the nuts into the paper bowl 4- place the napkin on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon into the paper bowl 2- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the napkin on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the spoon into the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon into the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon into the paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin Q: immediate next step? \u003cPRED\u003eA: place the spoon into the paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side 3- place the nuts into the paper bowl 4- place the napkin on the table Q: immediate next step? \u003cPRED\u003eA: place the spoon into the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the napkin on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11973173862480110780.mp4"}
+{"uid":"18050799265043785819","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":"8223107217142319283.mp4"}
+{"uid":"803658747134144228","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: drop the brown chip packet in a 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- drop the brown chip bag in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brown chip packet in a tray 2- drop the brown chip packet in a tray 3- put a brown packet into tray 4- put a brown packet into tray 5- put a brown packet into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the brown chip packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- drop the brown chip bag in a tray Q: immediate next step? \u003cPRED\u003eA: drop the brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brown chip packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brown chip packet in a tray\n\u003c/PRED\u003e","video":"8369531038184696993.mp4"}
+{"uid":"16986885457071100369","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":"7736618130882212061.mp4"}
+{"uid":"322396626369597321","text":"\u003ctask:success:discrete:False\u003e\nput a brown packet into 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 a brown packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 into tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a brown packet into 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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- put a brown packet into tray 2- put a brown packet into tray 3- put a brown packet into tray 4- put a candy into jar 5- Place the jar back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a brown packet into 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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray Q: immediate next step? \u003cPRED\u003eA: put a brown packet into tray\n\u003c/PRED\u003e","video":"1141022754582283092.mp4"}
+{"uid":"7865458423265827847","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":"12719627277034458797.mp4"}
+{"uid":"3572245255937410041","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the brown chip packet in a 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":"5967017362860788501.mp4"}
+{"uid":"9975809301105693095","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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place the chips in the basket tray, and then put the candy into the jar Q: immediate next step? \u003cPRED\u003eA: Put the packet on the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on 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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the tray 2- put a brown packet into tray 3- put a brown packet into tray 4- put a brown packet into tray 5- put a candy into jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3913270704024367128.mp4"}
+{"uid":"13698191412736583932","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on 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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on 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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the tray 2- put a brown packet into tray 3- put a candy into jar 4- Place the jar back 5- drop the pink candy in a glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 on the tray\n\u003c/PRED\u003e","video":"13327840635921118183.mp4"}
+{"uid":"15571014852111508055","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":"17979512429048218186.mp4"}
+{"uid":"18389056384843761262","text":"\u003ctask:success:discrete:True\u003e\nput a brown packet into 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 into tray\n\u003c/PRED\u003e","video":"8502088205349089719.mp4"}
+{"uid":"3527484904218060104","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork spoon 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":"8160123543680464389.mp4"}
+{"uid":"13131407822039365585","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: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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray 8- put a candy into jar 9- Place the jar back Q: next 5 steps? \u003cPRED\u003eA: 1- put a candy into jar 2- drop the few candies in a glass jar 3- put a candy into jar 4- 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: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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray 8- put a candy into jar 9- Place the jar back 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\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","video":"17709589006440926551.mp4"}
+{"uid":"15054523266866555294","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the packet on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1467123506753989326.mp4"}
+{"uid":"136841839647799023","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a brown packet into tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a brown packet into 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 into tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a brown packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray Q: immediate next step? \u003cPRED\u003eA: put a brown packet into 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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- put a brown packet into tray 2- put a brown packet into tray 3- put a candy into jar 4- Place the jar back 5- drop the pink candy in a glass jar\n\u003c/PRED\u003e","video":"5614845216809186799.mp4"}
+{"uid":"9478954997456618143","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":"7440189602616558733.mp4"}
+{"uid":"18192155714833972902","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker into the container box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1263332563601294725.mp4"}
+{"uid":"5603290443879106894","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on 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 on the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on 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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on 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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the tray 2- put a brown packet into tray 3- put a brown packet into tray 4- put a brown packet into tray 5- put a brown packet into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the packet on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10236214796898785302.mp4"}
+{"uid":"3333123827153906604","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the 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":"2435125201110468591.mp4"}
+{"uid":"16395620687448131137","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green marker in glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7365077213533767795.mp4"}
+{"uid":"338614488714249012","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a brown packet into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a brown packet into 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":"17628329394730727333.mp4"}
+{"uid":"16599351129747450939","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: drop the brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brown chip packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray Q: immediate next step? \u003cPRED\u003eA: drop the brown chip packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brown chip packet in a 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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brown chip packet in a tray 2- put a brown packet into tray 3- put a brown packet into tray 4- put a candy into jar 5- Place the jar back\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brown chip packet in a tray\n\u003c/PRED\u003e","video":"13691501922287992300.mp4"}
+{"uid":"6529439509338829897","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the paper bowl upright\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the paper 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","video":"9973341969022287317.mp4"}
+{"uid":"2622949216838446404","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin Q: immediate next step? \u003cPRED\u003eA: place the cup up straight\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup up straight\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cup up 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:affordance:discriminative:discrete:True\u003e\nplace the cup up 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup up straight 2- place the nuts into the paper bowl 3- place the napkin on the table 4- place the spoon into the paper bowl 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the cup up straight\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup up straight\n\u003c/PRED\u003e","video":"964266424017775161.mp4"}
+{"uid":"5930035242532197281","text":"\u003ctask:success:discrete:True\u003e\nput a brown packet into 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 into tray\n\u003c/PRED\u003e","video":"7926465907276156271.mp4"}
+{"uid":"15969801819428825118","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace white packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17947668634657196836.mp4"}
+{"uid":"2815034549437502338","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a brown packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 into tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a brown packet into 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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- put a brown packet into tray 2- put a brown packet into tray 3- put a brown packet into tray 4- put a candy into jar 5- Place the jar back\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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray Q: immediate next step? \u003cPRED\u003eA: put a brown packet into 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 into tray\n\u003c/PRED\u003e","video":"8056298823017440568.mp4"}
+{"uid":"15660519883213969454","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":"2731257988117757725.mp4"}
+{"uid":"2686416136171916019","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet on the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the packet on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7654967796769123739.mp4"}
+{"uid":"3931075318746051072","text":"\u003ctask:success:discrete:True\u003e\nPut the packet on the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the packet on the tray\n\u003c/PRED\u003e","video":"13277286747258403622.mp4"}
+{"uid":"5365698766554335685","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: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: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: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: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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray 8- put a candy into jar 9- Place the jar back 10- drop the pink candy in a glass jar 11- drop the few candies in a glass 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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray 6- put a brown packet into tray 7- put a brown packet into tray 8- put a candy into jar 9- Place the jar back 10- drop the pink candy in a glass jar 11- drop the few candies in a glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put a candy into jar 2- done\n\u003c/PRED\u003e","video":"16653432989396365774.mp4"}
+{"uid":"4562031657726793703","text":"\u003ctask:success:discrete:True\u003e\ndrop the brown chip 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: drop the brown chip packet in tray\n\u003c/PRED\u003e","video":"4667082753923917189.mp4"}
+{"uid":"6090631189694975033","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the paper bowl upright\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the paper bowl upright 2- place the cup right side 3- place the nuts into the paper bowl 4- place the napkin on the table 5- place the spoon into the paper bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin Q: immediate next step? \u003cPRED\u003eA: place the paper bowl upright\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the paper bowl upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the paper bowl upright\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the paper bowl 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the paper bowl upright\n\u003c/PRED\u003e","video":"8968125422429595379.mp4"}
+{"uid":"17053011543605586507","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":"16854679711811736209.mp4"}
+{"uid":"10659875432327640873","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9919930011771074471.mp4"}
+{"uid":"5589565296169450412","text":"\u003ctask:success:discrete:False\u003e\nput a brown packet into 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 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 a brown packet into 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 into tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a brown packet into tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a brown packet into tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a brown packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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- put a brown packet into tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray\n\u003c/PRED\u003e","video":"18342689537659809620.mp4"}
+{"uid":"12422256753962662514","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brown chip bag in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brown chip bag in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brown chip bag in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: drop the brown chip bag in a 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: drop the brown chip bag in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the brown chip bag in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray\n\u003c/PRED\u003e","video":"16786385491205104335.mp4"}
+{"uid":"18050086624620300503","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side 3- place the nuts into the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- take out a tissue paper 2- place the spoon into the paper bowl 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side 3- place the nuts into the paper 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: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\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin Q: immediate next step? \u003cPRED\u003eA: take out a tissue paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take out a tissue paper\n\u003c/PRED\u003e","video":"3493479079208828354.mp4"}
+{"uid":"283320385104102584","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brown chip 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: drop the brown chip packet in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brown chip packet in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brown chip 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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brown chip packet in tray 2- put a brown packet into tray 3- put a candy into jar 4- Place the jar back 5- drop the pink candy in a glass 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- drop the brown chip bag in a tray 2- drop the brown chip packet in a tray 3- drop the brown chip packet in a tray 4- put a brown packet into tray 5- put a brown packet into tray Q: immediate next step? \u003cPRED\u003eA: drop the brown chip packet in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the brown chip 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","video":"9364191691484063427.mp4"}
+{"uid":"13193981609805649145","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":"4512780502717180186.mp4"}
+{"uid":"18165648142930031803","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown 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":"8479657615479386655.mp4"}
+{"uid":"11442313163340753020","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":"18263707138361815339.mp4"}
+{"uid":"12144946998363456680","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put spoon on the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side 3- place the nuts into the paper bowl 4- place the napkin on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put spoon on the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput spoon on the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput spoon on 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 cereal into the bowl and than grab me a spoon and a napkin. last 20 steps: 1- place the cup up straight 2- place the cup right side 3- place the nuts into the paper bowl 4- place the napkin on the table Q: immediate next step? \u003cPRED\u003eA: put spoon on the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put spoon on the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour cereal into the bowl and than grab me a spoon and a napkin Q: immediate next step? \u003cPRED\u003eA: put spoon on the bowl\n\u003c/PRED\u003e","video":"2487047801361369353.mp4"}
+{"uid":"14674771545649270909","text":"\u003ctask:success:discrete:False\u003e\nPlace a 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a pen stand on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a pen stand on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: Place a pen stand on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place a pen stand on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place a pen stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a 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","video":"6730902018180650758.mp4"}
+{"uid":"6925588018576172059","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1486247849021697990.mp4"}
+{"uid":"17547011896788472962","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":"4671372269871358222.mp4"}
+{"uid":"794970456187707836","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place a pen on the stand 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put the stand in the trolley stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a pen on the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: Place a pen on the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a pen on the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand Q: immediate next step? \u003cPRED\u003eA: Place a pen on the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace a pen 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:affordance:discriminative:discrete:True\u003e\nPlace a pen 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":"15077051306890618210.mp4"}
+{"uid":"18312787554003111605","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red packet in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8312866215945042527.mp4"}
+{"uid":"15480495544242006327","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen stand on the table\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","video":"6077629709000683825.mp4"}
+{"uid":"5286993857565178280","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":"157448459006811087.mp4"}
+{"uid":"9875362708182450226","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: Place a pen on the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a pen on the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace a pen 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a pen on the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a pen 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: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place a pen on the stand 2- put orange pen in the stand 3- put the stand in the trolley stand 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand Q: immediate next step? \u003cPRED\u003eA: Place a pen on the stand\n\u003c/PRED\u003e","video":"11718898263830712873.mp4"}
+{"uid":"6820524854266134144","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand 6- put orange pen in the stand 7- put the stand in the trolley stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand 6- put orange pen in the stand 7- put the stand in the trolley stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the stand in the trolley 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 stand in the trolley stand\n\u003c/PRED\u003e","video":"6099880835039891147.mp4"}
+{"uid":"9547302592588565545","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"12462131415069970021.mp4"}
+{"uid":"5946914994279915812","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a pen 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: Place a pen on the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand Q: immediate next step? \u003cPRED\u003eA: Place a pen on the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place a pen on the stand 2- put orange pen in the stand 3- put orange pen in the stand 4- put the stand in the trolley stand 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace a pen 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: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: Place a pen on the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a pen on the stand\n\u003c/PRED\u003e","video":"120604622400715757.mp4"}
+{"uid":"8084996085461833102","text":"\u003ctask:success:discrete:False\u003e\nput orange 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put orange pen in the stand 2- put orange pen in the stand 3- put orange pen in the stand 4- put the stand in the trolley stand 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand Q: immediate next step? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange 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":"4030398762352748782.mp4"}
+{"uid":"7230410202807639098","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18365940462660661984.mp4"}
+{"uid":"6418910454011408590","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1666889043936636820.mp4"}
+{"uid":"7257600170063915179","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a pen on the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand Q: immediate next step? \u003cPRED\u003eA: Place a pen on the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: Place a pen on the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place a pen on the stand 2- put the stand in the trolley stand 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a pen on the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace a pen 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:affordance:discriminative:discrete:True\u003e\nPlace a pen 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":"6703461760373774449.mp4"}
+{"uid":"15853823058678202516","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the numi box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16987630885185126047.mp4"}
+{"uid":"4679992850702372467","text":"\u003ctask:success:discrete:True\u003e\nput orange pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e","video":"17634495511707462380.mp4"}
+{"uid":"17499411576687032332","text":"\u003ctask:success:discrete:True\u003e\nPlace a pen 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: Place a pen on the stand\n\u003c/PRED\u003e","video":"1985936295700551808.mp4"}
+{"uid":"8081846795537460392","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana on tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8346133584288607064.mp4"}
+{"uid":"15807437674488088508","text":"\u003ctask:success:discrete:True\u003e\nput orange pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e","video":"14684400482310884360.mp4"}
+{"uid":"14428358084286896641","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place a pen stand on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace a 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","video":"14591652428679968248.mp4"}
+{"uid":"5622416536665812116","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange 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: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand Q: immediate next step? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put orange pen in the stand 2- put the stand in the trolley stand 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e","video":"17771872915860242618.mp4"}
+{"uid":"4718329235553398229","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put the stand in the trolley stand 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"8156527871896810298.mp4"}
+{"uid":"8528293146717115984","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"7919529836204789109.mp4"}
+{"uid":"13614105078520281826","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the chair towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4413604233425920189.mp4"}
+{"uid":"4797703018577592236","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npour a spoon of popcorn in paper 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":"13500030564229890013.mp4"}
+{"uid":"17435678158231787385","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the yellow packet in the top tray of 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":"586732460747391783.mp4"}
+{"uid":"14847150824017408016","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the orange marker upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5339970965734514764.mp4"}
+{"uid":"15214418625605976953","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the stand in the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the stand in the trolley stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand 6- put orange pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the stand in the trolley stand 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: put the stand in the trolley stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the stand in the trolley stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand 6- put orange pen in the stand Q: immediate next step? \u003cPRED\u003eA: put the stand in the trolley stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the stand in the trolley 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":"5124059274644847137.mp4"}
+{"uid":"5359425893471080567","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put orange pen in the stand 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table Q: immediate next step? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e","video":"14370296460182042442.mp4"}
+{"uid":"14975787319081577237","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the plastic 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":"17342912936048833357.mp4"}
+{"uid":"9225129936015982685","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put orange pen in the stand 3- put orange pen in the stand 4- put the stand in the trolley stand 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2469691017530820047.mp4"}
+{"uid":"13423215381927118559","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a pen on the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace a pen 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:affordance:discriminative:discrete:True\u003e\nPlace a pen 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a pen on the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: Place a pen on the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table Q: immediate next step? \u003cPRED\u003eA: Place a pen on the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place a pen on the stand 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand\n\u003c/PRED\u003e","video":"18331326793673678210.mp4"}
+{"uid":"10769199654727872250","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":"4358475661443495490.mp4"}
+{"uid":"75213137769724408","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":"6103394629595169333.mp4"}
+{"uid":"16774474631899400594","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put orange pen in the stand 2- put orange pen in the stand 3- put the stand in the trolley stand 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange 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: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand Q: immediate next step? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange 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":"13590877765622404435.mp4"}
+{"uid":"849633057131263986","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange 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":"4369360288396253510.mp4"}
+{"uid":"14868018791121719535","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: put the stand on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the stand on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the stand on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the stand on the table\n\u003c/PRED\u003e","video":"11139828736176036813.mp4"}
+{"uid":"14564327345746842387","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place a pen on the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace a pen 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":"6200523804331869137.mp4"}
+{"uid":"754289705296029775","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11471039119134756384.mp4"}
+{"uid":"17320394184088206314","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":"9158947889129367720.mp4"}
+{"uid":"1888974202111636521","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen stand in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: put the pen stand in the black tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen stand in the black tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen stand in the black 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 grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand 6- put orange pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen stand in the black tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen stand in the black tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand 6- put orange pen in the stand Q: immediate next step? \u003cPRED\u003eA: put the pen stand in the black tray\n\u003c/PRED\u003e","video":"16318674544260312196.mp4"}
+{"uid":"18095722345468480250","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cups 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":"15777784477427251659.mp4"}
+{"uid":"18267449589957878445","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand 6- put orange pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place a pen stand in the tray 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a pen stand in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a pen stand in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand 6- put orange pen in the stand Q: immediate next step? \u003cPRED\u003eA: Place a pen stand in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a pen stand 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 grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: Place a pen stand in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace a pen stand 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":"17046515401496178238.mp4"}
+{"uid":"17434070707629598223","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand 6- put orange pen in the stand 7- put the pen stand in the black tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen stand in the black 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 grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand 6- put orange pen in the stand 7- put the pen stand in the black 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 pen stand in the black tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1794887427538407562.mp4"}
+{"uid":"10918141587584311244","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place a pen stand in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace a pen stand 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 grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand 6- put orange pen in the stand 7- Place a pen stand 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 grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand 6- put orange pen in the stand 7- Place a pen stand in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10181823062561665777.mp4"}
+{"uid":"3803051868066190071","text":"\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: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\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: put the pen stand on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: none 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand\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","video":"11880851198352472621.mp4"}
+{"uid":"13767748607237301701","text":"\u003ctask:success:discrete:True\u003e\nPlace a pen 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: Place a pen on the stand\n\u003c/PRED\u003e","video":"15684618780272727938.mp4"}
+{"uid":"876921869145955741","text":"\u003ctask:success:discrete:True\u003e\nPlace a pen 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: Place a pen on the stand\n\u003c/PRED\u003e","video":"3629801987797056847.mp4"}
+{"uid":"2264127652851680173","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":"1919260152605440554.mp4"}
+{"uid":"11802849610456969337","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":"15386554421604711769.mp4"}
+{"uid":"385442150596554845","text":"\u003ctask:success:discrete:True\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"4085881805745990494.mp4"}
+{"uid":"1855206551362705057","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put orange pen in the stand 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put the stand in the trolley stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand Q: immediate next step? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange pen in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e","video":"1179999162875043617.mp4"}
+{"uid":"17113478261905030595","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: pick up the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand 6- put orange pen in the stand Q: immediate next step? \u003cPRED\u003eA: pick up the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand 6- put orange pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pen stand 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pen stand\n\u003c/PRED\u003e","video":"7415597511290506850.mp4"}
+{"uid":"4336910839790473131","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place a pen on the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace a pen 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":"5285191865430278551.mp4"}
+{"uid":"11763303954111271602","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put orange pen in the stand 3- put the stand in the trolley stand 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4086002866301181003.mp4"}
+{"uid":"3930080079176298063","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chocolate on the chocolate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13326347161587411017.mp4"}
+{"uid":"4002423070498252860","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput orange 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":"11440962932046301611.mp4"}
+{"uid":"17227923418870668494","text":"\u003ctask:success:discrete:True\u003e\nput the 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: put the stand on the table\n\u003c/PRED\u003e","video":"12516517031815570393.mp4"}
+{"uid":"4409381470083863641","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put orange pen in the stand\n\u003c/PRED\u003e","video":"18324475503892064243.mp4"}
+{"uid":"16816072835573993733","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":"11815905438216772140.mp4"}
+{"uid":"6760937188988934293","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cups on 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":"1851781690740673878.mp4"}
+{"uid":"9276777424758908005","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen stand 2- put orange pen in the stand 3- put orange pen in the stand 4- put orange pen in the stand 5- put the stand in the trolley stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab the mesh container from the cart, place it on the table, put the red pens in it, then place it back on the cart. last 20 steps: 1- put the stand on the table 2- put orange pen in the stand Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen stand\n\u003c/PRED\u003e","video":"14980865129432907483.mp4"}
+{"uid":"11321310309136924327","text":"\u003ctask:success:discrete:True\u003e\nput orange pen in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put orange pen in the stand\n\u003c/PRED\u003e","video":"11931636529082270474.mp4"}
+{"uid":"13506936382707493259","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pista in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14583163985073201236.mp4"}
+{"uid":"7872355141182578349","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the 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":"15457766956236697217.mp4"}
+{"uid":"15677250359163496133","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":"4265896867909079900.mp4"}
+{"uid":"10049849807314568866","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door 9- Place the stand on the rack Q: immediate next step? \u003cPRED\u003eA: Place the tape box on the existing tape box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Place the tape box on the existing tape box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the tape box on the existing tape box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the tape box on the existing tape box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 tape box on the existing tape box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 tape box on the existing tape box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door 9- Place the stand on the rack Q: next 5 steps? \u003cPRED\u003eA: 1- Place the tape box on the existing tape box 2- Open the tray 3- Place the pencil in the tray 4- Close the tray 5- Open the blue marker tray\n\u003c/PRED\u003e","video":"15451212779651011964.mp4"}
+{"uid":"13185087286635817166","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:planning:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. last 20 steps: 1- Open the cupboard 2- Open the drawer of the black marker 3- Pick up the black marker Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- Open the drawer of the red marker 3- Pick up the red marker 4- Close the drawer 5- Close the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. last 20 steps: 1- Open the cupboard 2- Open the drawer of the black marker 3- Pick up the black marker Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9505232735544580129.mp4"}
+{"uid":"16191738256567186762","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the pink marker tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door 9- Place the stand on the rack 10- Place the tape box on the existing tape box 11- Open the tray 12- Place the pencil in the tray 13- Close the tray 14- Open the blue marker tray 15- Place the blue marker in the tray 16- Close the tray 17- Move the stand to right side 18- Open the yellow marker tray 19- Place the yellow marker in the tray 20- Close the yellow marker tray Q: immediate next step? \u003cPRED\u003eA: Open the pink marker tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the pink 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the pink marker tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Open the pink marker tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the pink 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: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door 9- Place the stand on the rack 10- Place the tape box on the existing tape box 11- Open the tray 12- Place the pencil in the tray 13- Close the tray 14- Open the blue marker tray 15- Place the blue marker in the tray 16- Close the tray 17- Move the stand to right side 18- Open the yellow marker tray 19- Place the yellow marker in the tray 20- Close the yellow marker tray Q: next 5 steps? \u003cPRED\u003eA: 1- Open the pink marker tray 2- Place the pink marker in the tray 3- Close the pink marker tray 4- Open the blue pen tray 5- Place the pen in the tray\n\u003c/PRED\u003e","video":"4397946585041237600.mp4"}
+{"uid":"10937537983447570242","text":"\u003ctask:success:discrete:False\u003e\nClose the pink 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:affordance:discriminative:discrete:True\u003e\nClose the pink 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the pink marker tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the yellow marker in the stand 2- Place the blue marker in the stand 3- Place the pink marker in the stand 4- Place the tape box in the stand 5- Place the stand on the table 6- Open the door 7- Place the stand on the rack 8- Place the tape box on the existing tape box 9- Open the tray 10- Place the pencil in the tray 11- Close the tray 12- Open the blue marker tray 13- Place the blue marker in the tray 14- Close the tray 15- Move the stand to right side 16- Open the yellow marker tray 17- Place the yellow marker in the tray 18- Close the yellow marker tray 19- Open the pink marker tray 20- Place the pink marker in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Close the pink marker tray 2- Open the blue pen tray 3- Place the pen in the tray 4- Close the blue pen marker tray 5- Close the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the yellow marker in the stand 2- Place the blue marker in the stand 3- Place the pink marker in the stand 4- Place the tape box in the stand 5- Place the stand on the table 6- Open the door 7- Place the stand on the rack 8- Place the tape box on the existing tape box 9- Open the tray 10- Place the pencil in the tray 11- Close the tray 12- Open the blue marker tray 13- Place the blue marker in the tray 14- Close the tray 15- Move the stand to right side 16- Open the yellow marker tray 17- Place the yellow marker in the tray 18- Close the yellow marker tray 19- Open the pink marker tray 20- Place the pink marker in the tray Q: immediate next step? \u003cPRED\u003eA: Close the pink marker tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the pink marker tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Close the pink marker tray\n\u003c/PRED\u003e","video":"8842189166646614601.mp4"}
+{"uid":"4126378705552436632","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up white 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":"2756436271807484542.mp4"}
+{"uid":"2951366569876422807","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"4438697421626933632.mp4"}
+{"uid":"11269111971307970815","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in the big fruit 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":"5498901521777201083.mp4"}
+{"uid":"12720942512617149189","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the blue marker in the stand 2- Place the pink marker in the stand 3- Place the tape box in the stand 4- Place the stand on the table 5- Open the door 6- Place the stand on the rack 7- Place the tape box on the existing tape box 8- Open the tray 9- Place the pencil in the tray 10- Close the tray 11- Open the blue marker tray 12- Place the blue marker in the tray 13- Close the tray 14- Move the stand to right side 15- Open the yellow marker tray 16- Place the yellow marker in the tray 17- Close the yellow marker tray 18- Open the pink marker tray 19- Place the pink marker in the tray 20- Close the pink marker tray Q: next 5 steps? \u003cPRED\u003eA: 1- Open the blue pen tray 2- Place the pen in the tray 3- Close the blue pen marker tray 4- Close the door 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the blue pen tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Open the blue pen tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the blue pen tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the blue pen 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\nOpen the blue pen tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the blue marker in the stand 2- Place the pink marker in the stand 3- Place the tape box in the stand 4- Place the stand on the table 5- Open the door 6- Place the stand on the rack 7- Place the tape box on the existing tape box 8- Open the tray 9- Place the pencil in the tray 10- Close the tray 11- Open the blue marker tray 12- Place the blue marker in the tray 13- Close the tray 14- Move the stand to right side 15- Open the yellow marker tray 16- Place the yellow marker in the tray 17- Close the yellow marker tray 18- Open the pink marker tray 19- Place the pink marker in the tray 20- Close the pink marker tray Q: immediate next step? \u003cPRED\u003eA: Open the blue pen tray\n\u003c/PRED\u003e","video":"10011034186814189016.mp4"}
+{"uid":"13387937067213906233","text":"\u003ctask:success:discrete:False\u003e\nOpen the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the cupboard\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. Q: immediate next step? \u003cPRED\u003eA: Open the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the cupboard 2- Open the drawer of the black marker 3- Pick up the black marker 4- Close the drawer 5- Open the drawer of the red marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the cupboard\n\u003c/PRED\u003e","video":"15890723884592067637.mp4"}
+{"uid":"16014645147715181903","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep 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":"9016218285597960101.mp4"}
+{"uid":"4388534642597510621","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table Q: immediate next step? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Open the door 2- Place the stand on the rack 3- Place the tape box on the existing tape box 4- Open the tray 5- Place the pencil in the tray\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","video":"5865510373671894241.mp4"}
+{"uid":"15409655594726509642","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the toffee 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":"15541196598190488664.mp4"}
+{"uid":"17035161732662387455","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the stand on the table 2- Open the door 3- Place the stand on the rack 4- Place the tape box on the existing tape box 5- Open the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the stand on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the stand on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand Q: immediate next step? \u003cPRED\u003eA: Place the stand on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the 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\nPlace the 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: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Place the stand on the table\n\u003c/PRED\u003e","video":"16689304065439580823.mp4"}
+{"uid":"11448833931259263393","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white 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":"135079748795111839.mp4"}
+{"uid":"10187934658891808848","text":"\u003ctask:success:discrete:False\u003e\nGo to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. last 20 steps: 1- Open the cupboard 2- Open the drawer of the black marker 3- Pick up the black marker 4- Close the drawer 5- Open the drawer of the red marker 6- Pick up the red marker 7- Close the drawer 8- Close the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the table 2- Put the markers on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. Q: immediate next step? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. last 20 steps: 1- Open the cupboard 2- Open the drawer of the black marker 3- Pick up the black marker 4- Close the drawer 5- Open the drawer of the red marker 6- Pick up the red marker 7- Close the drawer 8- Close the cupboard Q: immediate next step? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13855009763288112012.mp4"}
+{"uid":"17902514744929175776","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown 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":"8632887633165517876.mp4"}
+{"uid":"12440170528401053733","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Place the blue marker in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door 9- Place the stand on the rack 10- Place the tape box on the existing tape box 11- Open the tray 12- Place the pencil in the tray 13- Close the tray 14- Open the blue marker tray Q: immediate next step? \u003cPRED\u003eA: Place the blue marker in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue marker in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door 9- Place the stand on the rack 10- Place the tape box on the existing tape box 11- Open the tray 12- Place the pencil in the tray 13- Close the tray 14- Open the blue marker tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue marker in the tray 2- Close the tray 3- Move the stand to right side 4- Open the yellow marker tray 5- Place the yellow marker 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 marker in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue marker in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9459815379200587553.mp4"}
+{"uid":"7800166086157017106","text":"\u003ctask:success:discrete:True\u003e\nOpen 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the cupboard\n\u003c/PRED\u003e","video":"17259359747054769901.mp4"}
+{"uid":"7481335557520861128","text":"\u003ctask:success:discrete:True\u003e\nClose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Open the door 2- Place the stand on the rack 3- Place the tape box on the existing tape box 4- Open the tray 5- Place the pencil in the tray 6- Close the tray 7- Open the blue marker tray 8- Place the blue marker in the tray 9- Close the tray 10- Move the stand to right side 11- Open the yellow marker tray 12- Place the yellow marker in the tray 13- Close the yellow marker tray 14- Open the pink marker tray 15- Place the pink marker in the tray 16- Close the pink marker tray 17- Open the blue pen tray 18- Place the pen in the tray 19- Close the blue pen marker tray 20- Close the door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Open the door 2- Place the stand on the rack 3- Place the tape box on the existing tape box 4- Open the tray 5- Place the pencil in the tray 6- Close the tray 7- Open the blue marker tray 8- Place the blue marker in the tray 9- Close the tray 10- Move the stand to right side 11- Open the yellow marker tray 12- Place the yellow marker in the tray 13- Close the yellow marker tray 14- Open the pink marker tray 15- Place the pink marker in the tray 16- Close the pink marker tray 17- Open the blue pen tray 18- Place the pen in the tray 19- Close the blue pen marker tray 20- Close the door Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"332508120634788835.mp4"}
+{"uid":"14387914003559317893","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":"6965701872263482613.mp4"}
+{"uid":"14098475018344597443","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":"4224061375776974800.mp4"}
+{"uid":"16773651006862199537","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":"8991746709630477127.mp4"}
+{"uid":"6795620200492387778","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":"16758133299754287010.mp4"}
+{"uid":"3849603400797253018","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. last 20 steps: 1- Open the cupboard 2- Open the drawer of the black marker 3- Pick up the black marker 4- Close the drawer 5- Open the drawer of the red marker 6- Pick up the red marker 7- Close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close the cupboard 2- Go to the table 3- Put the markers on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. Q: immediate next step? \u003cPRED\u003eA: Close the cupboard\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. last 20 steps: 1- Open the cupboard 2- Open the drawer of the black marker 3- Pick up the black marker 4- Close the drawer 5- Open the drawer of the red marker 6- Pick up the red marker 7- Close the drawer Q: immediate next step? \u003cPRED\u003eA: Close the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the cupboard Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the cupboard\n\u003c/PRED\u003e","video":"18125757878436206574.mp4"}
+{"uid":"13602956276121843242","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":"9227841024712750489.mp4"}
+{"uid":"10049266807208482141","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":"16562621553473723999.mp4"}
+{"uid":"8408041553958436762","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue pen in the stand 2- Place the yellow marker in the stand 3- Place the blue marker in the stand 4- Place the pink marker in the stand 5- Place the tape box 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: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: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Place the blue pen in the stand\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","video":"2818848108332779111.mp4"}
+{"uid":"17637040187585135427","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":"9717840962537993821.mp4"}
+{"uid":"17775430695739375942","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the cardboard box left 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":"12972247337141682435.mp4"}
+{"uid":"15707467593160055123","text":"\u003ctask:success:discrete:True\u003e\nPlace the stand on the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the stand on the rack\n\u003c/PRED\u003e","video":"8778707564346026779.mp4"}
+{"uid":"5496702273894711000","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pencil in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door 9- Place the stand on the rack 10- Place the tape box on the existing tape box 11- Open the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pencil in the tray 2- Close the tray 3- Open the blue marker tray 4- Place the blue marker in the tray 5- Close the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pencil in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Place the pencil in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door 9- Place the stand on the rack 10- Place the tape box on the existing tape box 11- Open the tray Q: immediate next step? \u003cPRED\u003eA: Place the pencil in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pencil 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 pencil 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":"16258447752551949052.mp4"}
+{"uid":"10439129165886315840","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16945329734654462994.mp4"}
+{"uid":"437117650512228842","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. last 20 steps: 1- Open the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer of the black marker 2- Pick up the black marker 3- Close the drawer 4- Open the drawer of the red marker 5- Pick up the red marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the drawer of the black marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. last 20 steps: 1- Open the cupboard Q: immediate next step? \u003cPRED\u003eA: Open the drawer of the black marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. Q: immediate next step? \u003cPRED\u003eA: Open the drawer of the black marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the drawer of the black marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the drawer of the black marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the drawer of the black marker\n\u003c/PRED\u003e","video":"12252568929018591868.mp4"}
+{"uid":"12839671371001966183","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5977252426075457889.mp4"}
+{"uid":"1894073443732885266","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose 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":"689332147406495093.mp4"}
+{"uid":"9949181138560766197","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Place the yellow marker in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow 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: Place the yellow marker in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door 9- Place the stand on the rack 10- Place the tape box on the existing tape box 11- Open the tray 12- Place the pencil in the tray 13- Close the tray 14- Open the blue marker tray 15- Place the blue marker in the tray 16- Close the tray 17- Move the stand to right side 18- Open the yellow marker tray Q: immediate next step? \u003cPRED\u003eA: Place the yellow marker in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow marker in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door 9- Place the stand on the rack 10- Place the tape box on the existing tape box 11- Open the tray 12- Place the pencil in the tray 13- Close the tray 14- Open the blue marker tray 15- Place the blue marker in the tray 16- Close the tray 17- Move the stand to right side 18- Open the yellow marker tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow marker in the tray 2- Close the yellow marker tray 3- Open the pink marker tray 4- Place the pink marker in the tray 5- Close the pink marker tray\n\u003c/PRED\u003e","video":"2485137536627928406.mp4"}
+{"uid":"13816887337476400409","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"14389796808701277202.mp4"}
+{"uid":"14785541567708599742","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":"6575404612396272122.mp4"}
+{"uid":"7793619621485981605","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the markers on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. last 20 steps: 1- Open the cupboard 2- Open the drawer of the black marker 3- Pick up the black marker 4- Close the drawer 5- Open the drawer of the red marker 6- Pick up the red marker 7- Close the drawer 8- Close the cupboard 9- Go to the table Q: immediate next step? \u003cPRED\u003eA: Put the markers on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the markers on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. last 20 steps: 1- Open the cupboard 2- Open the drawer of the black marker 3- Pick up the black marker 4- Close the drawer 5- Open the drawer of the red marker 6- Pick up the red marker 7- Close the drawer 8- Close the cupboard 9- Go to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the markers on the table 2- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. Q: immediate next step? \u003cPRED\u003eA: Put the markers on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the markers on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 markers on the table\n\u003c/PRED\u003e","video":"16923969890954396847.mp4"}
+{"uid":"16493403730625558706","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3685364971937549731.mp4"}
+{"uid":"11946868113434404557","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Place the pencil in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pencil in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pencil 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: Place the pencil in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pencil 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: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the pencil in the stand\n\u003c/PRED\u003e","video":"16219154117862379639.mp4"}
+{"uid":"563843382600203539","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue marker in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Place the blue marker in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand Q: immediate next step? \u003cPRED\u003eA: Place the blue marker 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 marker in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue marker in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue marker in the stand 2- Place the pink marker in the stand 3- Place the tape box in the stand 4- Place the stand on the table 5- Open the door\n\u003c/PRED\u003e","video":"8851365619369405811.mp4"}
+{"uid":"16705781834343278195","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pista in plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8155128044198953511.mp4"}
+{"uid":"55992530089245356","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Open the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door 9- Place the stand on the rack 10- Place the tape box on the existing tape box Q: next 5 steps? \u003cPRED\u003eA: 1- Open the tray 2- Place the pencil in the tray 3- Close the tray 4- Open the blue marker tray 5- Place the blue marker in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door 9- Place the stand on the rack 10- Place the tape box on the existing tape box Q: immediate next step? \u003cPRED\u003eA: Open the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen 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":"1622164106637525221.mp4"}
+{"uid":"14901241097517048863","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the 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":"9107447942389426949.mp4"}
+{"uid":"10768505479110169848","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":"12920987139730798976.mp4"}
+{"uid":"18353262655702556862","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":"3107968314878717544.mp4"}
+{"uid":"6418948077971297663","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. Q: immediate next step? \u003cPRED\u003eA: Open the drawer of the red marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the drawer of the red 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the drawer of the red marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. last 20 steps: 1- Open the cupboard 2- Open the drawer of the black marker 3- Pick up the black marker 4- Close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Open the drawer of the red marker 2- Pick up the red marker 3- Close the drawer 4- Close the cupboard 5- Go to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the drawer of the red 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: Open the drawer of the red marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. last 20 steps: 1- Open the cupboard 2- Open the drawer of the black marker 3- Pick up the black marker 4- Close the drawer Q: immediate next step? \u003cPRED\u003eA: Open the drawer of the red marker\n\u003c/PRED\u003e","video":"2361450135248742895.mp4"}
+{"uid":"17596087175811704332","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the red 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 go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. Q: immediate next step? \u003cPRED\u003eA: Pick up the red marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the red marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. last 20 steps: 1- Open the cupboard 2- Open the drawer of the black marker 3- Pick up the black marker 4- Close the drawer 5- Open the drawer of the red marker Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the red marker 2- Close the drawer 3- Close the cupboard 4- Go to the table 5- Put the markers on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. last 20 steps: 1- Open the cupboard 2- Open the drawer of the black marker 3- Pick up the black marker 4- Close the drawer 5- Open the drawer of the red marker Q: immediate next step? \u003cPRED\u003eA: Pick up the red marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the red marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the red marker\n\u003c/PRED\u003e","video":"10883607281265452457.mp4"}
+{"uid":"713593686843749768","text":"\u003ctask:success:discrete:False\u003e\nOpen the yellow 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the yellow marker tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the yellow 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:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Open the yellow marker tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door 9- Place the stand on the rack 10- Place the tape box on the existing tape box 11- Open the tray 12- Place the pencil in the tray 13- Close the tray 14- Open the blue marker tray 15- Place the blue marker in the tray 16- Close the tray 17- Move the stand to right side Q: immediate next step? \u003cPRED\u003eA: Open the yellow marker tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door 9- Place the stand on the rack 10- Place the tape box on the existing tape box 11- Open the tray 12- Place the pencil in the tray 13- Close the tray 14- Open the blue marker tray 15- Place the blue marker in the tray 16- Close the tray 17- Move the stand to right side Q: next 5 steps? \u003cPRED\u003eA: 1- Open the yellow marker tray 2- Place the yellow marker in the tray 3- Close the yellow marker tray 4- Open the pink marker tray 5- Place the pink marker in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the yellow marker tray\n\u003c/PRED\u003e","video":"139017560910418967.mp4"}
+{"uid":"5273730730185548133","text":"\u003ctask:success:discrete:False\u003e\nClose the yellow 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:affordance:discriminative:discrete:True\u003e\nClose the yellow 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door 9- Place the stand on the rack 10- Place the tape box on the existing tape box 11- Open the tray 12- Place the pencil in the tray 13- Close the tray 14- Open the blue marker tray 15- Place the blue marker in the tray 16- Close the tray 17- Move the stand to right side 18- Open the yellow marker tray 19- Place the yellow marker in the tray Q: immediate next step? \u003cPRED\u003eA: Close the yellow marker tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the yellow marker tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the yellow marker tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door 9- Place the stand on the rack 10- Place the tape box on the existing tape box 11- Open the tray 12- Place the pencil in the tray 13- Close the tray 14- Open the blue marker tray 15- Place the blue marker in the tray 16- Close the tray 17- Move the stand to right side 18- Open the yellow marker tray 19- Place the yellow marker in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Close the yellow marker tray 2- Open the pink marker tray 3- Place the pink marker in the tray 4- Close the pink marker tray 5- Open the blue pen tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Close the yellow marker tray\n\u003c/PRED\u003e","video":"342838081001647179.mp4"}
+{"uid":"16743284496527306846","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the salt 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":"4510193885910870097.mp4"}
+{"uid":"3562732627624730278","text":"\u003ctask:success:discrete:True\u003e\nPlace the 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: Place the stand on the table\n\u003c/PRED\u003e","video":"11033510213877612068.mp4"}
+{"uid":"13518041119476578772","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door 9- Place the stand on the rack 10- Place the tape box on the existing tape box 11- Open the tray 12- Place the pencil in the tray 13- Close the tray 14- Open the blue marker tray 15- Place the blue marker in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Close the tray 2- Move the stand to right side 3- Open the yellow marker tray 4- Place the yellow marker in the tray 5- Close the yellow marker tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Close the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door 9- Place the stand on the rack 10- Place the tape box on the existing tape box 11- Open the tray 12- Place the pencil in the tray 13- Close the tray 14- Open the blue marker tray 15- Place the blue marker in the tray Q: immediate next step? \u003cPRED\u003eA: Close the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose 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":"6848154711203624089.mp4"}
+{"uid":"4489365848153402085","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the banana peel 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":"8538344100484951037.mp4"}
+{"uid":"3160178398473994336","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the tape box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the tape box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand Q: immediate next step? \u003cPRED\u003eA: Place the tape box in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Place the tape box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the tape box in the stand 2- Place the stand on the table 3- Open the door 4- Place the stand on the rack 5- Place the tape box on the existing tape box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the tape box in the stand\n\u003c/PRED\u003e","video":"6298309330077303777.mp4"}
+{"uid":"3066567579486457155","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":"4859768187340177174.mp4"}
+{"uid":"11715690275688468430","text":"\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the blue marker tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Open the blue marker tray\n\u003c/PRED\u003e\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: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door 9- Place the stand on the rack 10- Place the tape box on the existing tape box 11- Open the tray 12- Place the pencil in the tray 13- Close the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Open the blue marker tray 2- Place the blue marker in the tray 3- Close the tray 4- Move the stand to right side 5- Open the yellow marker tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door 9- Place the stand on the rack 10- Place the tape box on the existing tape box 11- Open the tray 12- Place the pencil in the tray 13- Close the tray Q: immediate next step? \u003cPRED\u003eA: Open the blue marker tray\n\u003c/PRED\u003e","video":"7361695195974176223.mp4"}
+{"uid":"4049115097365142731","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Move the stand to right side\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door 9- Place the stand on the rack 10- Place the tape box on the existing tape box 11- Open the tray 12- Place the pencil in the tray 13- Close the tray 14- Open the blue marker tray 15- Place the blue marker in the tray 16- Close the tray Q: immediate next step? \u003cPRED\u003eA: Move the stand to right side\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the stand to right side\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door 9- Place the stand on the rack 10- Place the tape box on the existing tape box 11- Open the tray 12- Place the pencil in the tray 13- Close the tray 14- Open the blue marker tray 15- Place the blue marker in the tray 16- Close the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Move the stand to right side 2- Open the yellow marker tray 3- Place the yellow marker in the tray 4- Close the yellow marker tray 5- Open the pink marker tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the stand to right side\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the stand to 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:success:discrete:False\u003e\nMove the stand to 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","video":"2562032298742865376.mp4"}
+{"uid":"12505750744259917072","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. last 20 steps: 1- Open the cupboard 2- Open the drawer of the black marker Q: immediate next step? \u003cPRED\u003eA: Pick up the black marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the black marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. last 20 steps: 1- Open the cupboard 2- Open the drawer of the black marker Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the black marker 2- Close the drawer 3- Open the drawer of the red marker 4- Pick up the red marker 5- Close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. Q: immediate next step? \u003cPRED\u003eA: Pick up the black marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the black marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the black marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the black marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12770428029814512118.mp4"}
+{"uid":"11727812290391842360","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"8467383420845931670.mp4"}
+{"uid":"3058919198705430343","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand Q: immediate next step? \u003cPRED\u003eA: Place the yellow marker in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the yellow marker in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Place the yellow marker in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow marker in the stand\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 stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow marker in the stand 2- Place the blue marker in the stand 3- Place the pink marker in the stand 4- Place the tape box in the stand 5- Place the stand on the table\n\u003c/PRED\u003e","video":"13763430545088601982.mp4"}
+{"uid":"9569630886544803469","text":"\u003ctask:success:discrete:True\u003e\nPlace the tape box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the tape box in the stand\n\u003c/PRED\u003e","video":"13591152953932181315.mp4"}
+{"uid":"9795060413854378704","text":"\u003ctask:success:discrete:True\u003e\nOpen the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e","video":"5065745252288508766.mp4"}
+{"uid":"13651538652124505920","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the blue pen marker tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Close the blue pen marker tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the tape box in the stand 2- Place the stand on the table 3- Open the door 4- Place the stand on the rack 5- Place the tape box on the existing tape box 6- Open the tray 7- Place the pencil in the tray 8- Close the tray 9- Open the blue marker tray 10- Place the blue marker in the tray 11- Close the tray 12- Move the stand to right side 13- Open the yellow marker tray 14- Place the yellow marker in the tray 15- Close the yellow marker tray 16- Open the pink marker tray 17- Place the pink marker in the tray 18- Close the pink marker tray 19- Open the blue pen tray 20- Place the pen in the tray Q: immediate next step? \u003cPRED\u003eA: Close the blue pen marker tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the blue pen marker tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the blue pen 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:affordance:discriminative:discrete:True\u003e\nClose the blue pen 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: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the tape box in the stand 2- Place the stand on the table 3- Open the door 4- Place the stand on the rack 5- Place the tape box on the existing tape box 6- Open the tray 7- Place the pencil in the tray 8- Close the tray 9- Open the blue marker tray 10- Place the blue marker in the tray 11- Close the tray 12- Move the stand to right side 13- Open the yellow marker tray 14- Place the yellow marker in the tray 15- Close the yellow marker tray 16- Open the pink marker tray 17- Place the pink marker in the tray 18- Close the pink marker tray 19- Open the blue pen tray 20- Place the pen in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Close the blue pen marker tray 2- Close the door 3- done\n\u003c/PRED\u003e","video":"3446284309256497248.mp4"}
+{"uid":"5755934464188179114","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink marker in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pink marker in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink marker in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Place the pink marker in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink marker in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand Q: immediate next step? \u003cPRED\u003eA: Place the pink marker in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink marker in the stand 2- Place the tape box in the stand 3- Place the stand on the table 4- Open the door 5- Place the stand on the rack\n\u003c/PRED\u003e","video":"11353765452706405562.mp4"}
+{"uid":"9943353097403658700","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. last 20 steps: 1- Open the cupboard 2- Open the drawer of the black marker 3- Pick up the black marker 4- Close the drawer 5- Open the drawer of the red marker 6- Pick up the red marker Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- Close the cupboard 3- Go to the table 4- Put the markers on the table 5- 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\u003ctask:planning:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please go to the supply cabinet and get me 2 different colored white board markers and set them on Steve's desk. last 20 steps: 1- Open the cupboard 2- Open the drawer of the black marker 3- Pick up the black marker 4- Close the drawer 5- Open the drawer of the red marker 6- Pick up the red marker 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: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":"17075052394542752410.mp4"}
+{"uid":"17697342357985798361","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green sachet 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":"1721665069935812733.mp4"}
+{"uid":"3825304908922288206","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the stand on the table 2- Open the door 3- Place the stand on the rack 4- Place the tape box on the existing tape box 5- Open the tray 6- Place the pencil in the tray 7- Close the tray 8- Open the blue marker tray 9- Place the blue marker in the tray 10- Close the tray 11- Move the stand to right side 12- Open the yellow marker tray 13- Place the yellow marker in the tray 14- Close the yellow marker tray 15- Open the pink marker tray 16- Place the pink marker in the tray 17- Close the pink marker tray 18- Open the blue pen tray 19- Place the pen in the tray 20- Close the blue pen marker tray Q: immediate next step? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the stand on the table 2- Open the door 3- Place the stand on the rack 4- Place the tape box on the existing tape box 5- Open the tray 6- Place the pencil in the tray 7- Close the tray 8- Open the blue marker tray 9- Place the blue marker in the tray 10- Close the tray 11- Move the stand to right side 12- Open the yellow marker tray 13- Place the yellow marker in the tray 14- Close the yellow marker tray 15- Open the pink marker tray 16- Place the pink marker in the tray 17- Close the pink marker tray 18- Open the blue pen tray 19- Place the pen in the tray 20- Close the blue pen marker tray Q: next 5 steps? \u003cPRED\u003eA: 1- Close the door 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9363398025047713107.mp4"}
+{"uid":"17517809134044340750","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pink marker in the stand 2- Place the tape box in the stand 3- Place the stand on the table 4- Open the door 5- Place the stand on the rack 6- Place the tape box on the existing tape box 7- Open the tray 8- Place the pencil in the tray 9- Close the tray 10- Open the blue marker tray 11- Place the blue marker in the tray 12- Close the tray 13- Move the stand to right side 14- Open the yellow marker tray 15- Place the yellow marker in the tray 16- Close the yellow marker tray 17- Open the pink marker tray 18- Place the pink marker in the tray 19- Close the pink marker tray 20- Open the blue pen tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen in the tray 2- Close the blue pen marker tray 3- Close the door 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pink marker in the stand 2- Place the tape box in the stand 3- Place the stand on the table 4- Open the door 5- Place the stand on the rack 6- Place the tape box on the existing tape box 7- Open the tray 8- Place the pencil in the tray 9- Close the tray 10- Open the blue marker tray 11- Place the blue marker in the tray 12- Close the tray 13- Move the stand to right side 14- Open the yellow marker tray 15- Place the yellow marker in the tray 16- Close the yellow marker tray 17- Open the pink marker tray 18- Place the pink marker in the tray 19- Close the pink marker tray 20- Open the blue pen tray Q: immediate next step? \u003cPRED\u003eA: Place the pen in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7436361546140459109.mp4"}
+{"uid":"2352288235708018904","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door 9- Place the stand on the rack 10- Place the tape box on the existing tape box 11- Open the tray 12- Place the pencil in the tray Q: immediate next step? \u003cPRED\u003eA: Close the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Close the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 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: Close the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door 9- Place the stand on the rack 10- Place the tape box on the existing tape box 11- Open the tray 12- Place the pencil in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Close the tray 2- Open the blue marker tray 3- Place the blue marker in the tray 4- Close the tray 5- Move the stand to right side\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the tray\n\u003c/PRED\u003e","video":"7382666485806191113.mp4"}
+{"uid":"10734645064528400463","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":"16950175883178700059.mp4"}
+{"uid":"11278755768449203260","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":"15213299913762973089.mp4"}
+{"uid":"15462722854193932304","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the stand on the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door Q: immediate next step? \u003cPRED\u003eA: Place the stand on the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the stand on the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Place the stand on the rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the pencil in the stand 2- Place the blue pen in the stand 3- Place the yellow marker in the stand 4- Place the blue marker in the stand 5- Place the pink marker in the stand 6- Place the tape box in the stand 7- Place the stand on the table 8- Open the door Q: next 5 steps? \u003cPRED\u003eA: 1- Place the stand on the rack 2- Place the tape box on the existing tape box 3- Open the tray 4- Place the pencil in the tray 5- Close the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the stand on the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the stand on the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14645629063222023129.mp4"}
+{"uid":"15954224123711098540","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"16204217598677700338.mp4"}
+{"uid":"5077886105592926594","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":"1842688344193226021.mp4"}
+{"uid":"5629112409503472320","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink marker in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink marker in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the blue pen in the stand 2- Place the yellow marker in the stand 3- Place the blue marker in the stand 4- Place the pink marker in the stand 5- Place the tape box in the stand 6- Place the stand on the table 7- Open the door 8- Place the stand on the rack 9- Place the tape box on the existing tape box 10- Open the tray 11- Place the pencil in the tray 12- Close the tray 13- Open the blue marker tray 14- Place the blue marker in the tray 15- Close the tray 16- Move the stand to right side 17- Open the yellow marker tray 18- Place the yellow marker in the tray 19- Close the yellow marker tray 20- Open the pink marker tray Q: immediate next step? \u003cPRED\u003eA: Place the pink marker in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet Q: immediate next step? \u003cPRED\u003eA: Place the pink marker in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Steve did not need the writing instruments or the tape but he dumped them all over his desk. Please put them all back into the mesh container and return them all to their places in the supply cabinet. last 20 steps: 1- Place the blue pen in the stand 2- Place the yellow marker in the stand 3- Place the blue marker in the stand 4- Place the pink marker in the stand 5- Place the tape box in the stand 6- Place the stand on the table 7- Open the door 8- Place the stand on the rack 9- Place the tape box on the existing tape box 10- Open the tray 11- Place the pencil in the tray 12- Close the tray 13- Open the blue marker tray 14- Place the blue marker in the tray 15- Close the tray 16- Move the stand to right side 17- Open the yellow marker tray 18- Place the yellow marker in the tray 19- Close the yellow marker tray 20- Open the pink marker tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink marker in the tray 2- Close the pink marker tray 3- Open the blue pen tray 4- Place the pen in the tray 5- Close the blue pen marker tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pink 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:discriminative:discrete:False\u003e\narrange pens in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10060661018670917208.mp4"}
+{"uid":"5340726840495602595","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":"3527724934691635571.mp4"}
+{"uid":"11354065092901077925","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 fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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: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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl 10- Put the orange packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the 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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl 10- Put the orange packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the holder 2- Put the fork in the holder 3- Put the fork in the holder 4- Put the fork in the holder 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fork in the holder\n\u003c/PRED\u003e","video":"229676309456000972.mp4"}
+{"uid":"13173587336530583761","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"238530245720865357.mp4"}
+{"uid":"11978966393567148548","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: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- Put the white packet in the bowl 2- put the packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Put the white packet in the bowl 2- put the packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the bowl 2- Adjust the white packet in the bowl 3- put the packet in the bowl 4- put the packet in the bowl 5- Put the blue packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"181475685222101252.mp4"}
+{"uid":"7212036223968224872","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep the knives in the 3rd 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":"10179210094469212357.mp4"}
+{"uid":"15687927508540315119","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":"3713928138976416481.mp4"}
+{"uid":"8632731796872745719","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork 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 snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl 10- Put the orange packet in the bowl 11- put the fork in the stand 12- Put the fork in the holder 13- Put the fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork 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 the fork in the stand\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 fork in the stand\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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl 10- Put the orange packet in the bowl 11- put the fork in the stand 12- Put the fork in the holder 13- Put the fork in the holder Q: immediate next step? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e","video":"9883302438692566651.mp4"}
+{"uid":"10456254437178648348","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":"2984143544209172535.mp4"}
+{"uid":"15341019928683902729","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a tray 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":"13578808407677601244.mp4"}
+{"uid":"3069700687090528951","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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask: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- Put the white packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Put the white packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the bowl 2- Put the white bowl in the bowl 3- Adjust the white packet in the bowl 4- put the packet in the bowl 5- put the packet in the bowl\n\u003c/PRED\u003e","video":"4371097555751204664.mp4"}
+{"uid":"6100131255202620167","text":"\u003ctask:success:discrete:False\u003e\nPut the white bowl 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 white bowl 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- Put the white packet in the bowl 2- put the packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white bowl in the bowl 2- Adjust the white packet in the bowl 3- put the packet in the bowl 4- put the packet in the bowl 5- Put the blue 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- Put the white packet in the bowl 2- put the packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the white bowl in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white bowl 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 bowl 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 bowl in the bowl\n\u003c/PRED\u003e","video":"11149701791461604983.mp4"}
+{"uid":"3045753018367429863","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 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\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: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- Put the white packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- Put the white bowl in the bowl 3- Adjust the white packet in the bowl 4- put the packet in the bowl 5- put the packet in the bowl\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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Put the white packet in the bowl Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"1760700060460833578.mp4"}
+{"uid":"340507659912922359","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the white box from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17477855282492944083.mp4"}
+{"uid":"385659594464914884","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the big yellow 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":"10815610554879681671.mp4"}
+{"uid":"12558878552583256911","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- Put the white packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange 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: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- Put the white packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet in the bowl 2- Put the white bowl in the bowl 3- Adjust the white packet in the bowl 4- put the packet in the bowl 5- put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: Put the 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","video":"11226098961468178305.mp4"}
+{"uid":"13950267333358528310","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"4998228722142154752.mp4"}
+{"uid":"14508119760788265010","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: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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue packet in the bowl 2- Adjust the packets in the bowl 3- Put the white packet in the bowl 4- Put the orange packet in the bowl 5- put the fork in the stand\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 blue 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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the blue 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 blue packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue packet in the bowl\n\u003c/PRED\u003e\u003ctask: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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the bowl 2- Adjust the packets in the bowl 3- Put the white packet in the bowl 4- Put the orange packet in the bowl 5- put the fork in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2402107689794187773.mp4"}
+{"uid":"11600084953377363022","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":"2950522832198860926.mp4"}
+{"uid":"18223510482232592085","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 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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl 10- Put the orange packet in the bowl 11- put the fork in the stand 12- Put the fork in the holder Q: immediate next step? \u003cPRED\u003eA: Put the fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl 10- Put the orange packet in the bowl 11- put the fork in the stand 12- Put the fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the holder 2- Put the fork in the holder 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fork in the holder\n\u003c/PRED\u003e","video":"1195716079267656749.mp4"}
+{"uid":"15053659881222184463","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the triangle object in the space provided Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\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 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":"1084557541353458422.mp4"}
+{"uid":"17511006952698293953","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: 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: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 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl\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":"16946817973160040442.mp4"}
+{"uid":"18045848884260721678","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange cable in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17106100757008239968.mp4"}
+{"uid":"9519679389770925993","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":"258751645002025556.mp4"}
+{"uid":"6045701696342725975","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: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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 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: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: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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the bowl 2- Put the blue packet in the bowl 3- Adjust the packets in the bowl 4- Put the white packet in the bowl 5- Put the orange packet in the bowl\n\u003c/PRED\u003e","video":"9812797704742391895.mp4"}
+{"uid":"11261753928084930411","text":"\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: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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange 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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet in the bowl 2- put the fork in the stand 3- Put the fork in the holder 4- Put the fork in the holder 5- Put the 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 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: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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet in the bowl\n\u003c/PRED\u003e","video":"17547304353196630930.mp4"}
+{"uid":"8298177024328028027","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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue packet in the bowl 2- Put the blue packet in the bowl 3- Adjust the packets in the bowl 4- Put the white packet in the bowl 5- Put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the blue 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 blue 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 blue packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue packet in the bowl\n\u003c/PRED\u003e","video":"17419356330090767012.mp4"}
+{"uid":"1839242997687519663","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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 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\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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- Adjust the packets in the bowl 3- Put the white packet in the bowl 4- Put the orange packet in the bowl 5- put the fork in the stand\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 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":"13952240572101575625.mp4"}
+{"uid":"14686217632593845893","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the 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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl 10- Put the orange packet in the bowl 11- put the fork in the stand 12- Put the fork in the holder 13- Put the fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the 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 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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl 10- Put the orange packet in the bowl 11- put the fork in the stand 12- Put the fork in the holder 13- Put the fork in the holder Q: immediate next step? \u003cPRED\u003eA: Put the fork in the holder\n\u003c/PRED\u003e","video":"6542770750136340601.mp4"}
+{"uid":"17165380380933484435","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":"6165937436004533944.mp4"}
+{"uid":"1257014346594641503","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the black holder 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":"8242026200304687726.mp4"}
+{"uid":"5314556270506984749","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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl 10- Put the orange packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the holder 2- Put the fork in the holder 3- Put the fork in the holder 4- Put the fork in the holder 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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: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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl 10- Put the orange packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the 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 fork in the holder\n\u003c/PRED\u003e","video":"4463340194173749554.mp4"}
+{"uid":"4188578475642765598","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":"8330799600258064519.mp4"}
+{"uid":"12037880867590881491","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop cable into box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16341226078886299007.mp4"}
+{"uid":"16517172888849213298","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: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: 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 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: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- 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 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","video":"6803378888008951786.mp4"}
+{"uid":"11430250952274907701","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the bowl 2- put the fork in the stand 3- Put the fork in the holder 4- Put the fork in the holder 5- Put the fork in the holder\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","video":"11415778282258680589.mp4"}
+{"uid":"5186693418240384169","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":"5998426541285597343.mp4"}
+{"uid":"13884145390251121747","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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the red packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red 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 red 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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packet in the bowl 2- put the packet in the bowl 3- Put the blue packet in the bowl 4- Adjust the packets in the bowl 5- Put the white 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 red packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red 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 red packet in the bowl\n\u003c/PRED\u003e","video":"12600766579167176698.mp4"}
+{"uid":"15122518173037972097","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange cable in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18131943871411428219.mp4"}
+{"uid":"17086035579347123607","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":"4848984780463632001.mp4"}
+{"uid":"13977132137046490689","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":"11625044249976757754.mp4"}
+{"uid":"4033979472397220678","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nsliding 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":"15988100832914865835.mp4"}
+{"uid":"16155456635599547454","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork 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":"4802060334644244023.mp4"}
+{"uid":"11305052397766700984","text":"\u003ctask:success:discrete:False\u003e\nput 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: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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl 10- Put the orange packet in the bowl 11- put the fork in the stand Q: immediate next step? \u003cPRED\u003eA: put the 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 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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl 10- Put the orange packet in the bowl 11- put the fork in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the holder 2- Put the fork in the holder 3- Put the fork in the holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the 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 fork in the holder\n\u003c/PRED\u003e","video":"4989136980715063409.mp4"}
+{"uid":"14053330136618269295","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: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: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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet in the bowl 2- Put the orange packet in the bowl 3- put the fork in the stand 4- Put the fork in the holder 5- Put the fork in the holder\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: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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the white 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 white packet in the bowl\n\u003c/PRED\u003e","video":"7777226801341433559.mp4"}
+{"uid":"6803667583728131435","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the bowl 2- put the packet in the bowl 3- Put the blue packet in the bowl 4- Adjust the packets in the bowl 5- Put the white 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: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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask: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","video":"7702981223499252001.mp4"}
+{"uid":"2761482062895904997","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the tissue paper 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":"1911499355776475970.mp4"}
+{"uid":"17759553593870431880","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":"5637138862563715164.mp4"}
+{"uid":"11195227795283281770","text":"\u003ctask:success:discrete:False\u003e\nput 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the 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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl 10- Put the orange packet in the bowl 11- put the fork in the stand 12- Put the fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the holder 2- Put the fork in the holder 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the 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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl 10- Put the orange packet in the bowl 11- put the fork in the stand 12- Put the fork in the holder Q: immediate next step? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e","video":"5400630536369423910.mp4"}
+{"uid":"15027805064742341117","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: Adjust the packets 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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Adjust the packets in the bowl 2- Put the white packet in the bowl 3- Put the orange packet in the bowl 4- put the fork in the stand 5- Put the fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Adjust the packets in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nAdjust the packets 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: Adjust the packets 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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl Q: immediate next step? \u003cPRED\u003eA: Adjust the packets in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nAdjust the packets 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":"8937827891586854849.mp4"}
+{"uid":"13590659834558778776","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: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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the bowl 2- Put the orange packet in the bowl 3- put the fork in the stand 4- Put the fork in the holder 5- Put the 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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets 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\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15397955100516430533.mp4"}
+{"uid":"14267586636824128444","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nAdjust 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: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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl Q: immediate next step? \u003cPRED\u003eA: Adjust 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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Adjust the white packet in the bowl 2- put the packet in the bowl 3- put the packet in the bowl 4- Put the blue packet in the bowl 5- Adjust the packets in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nAdjust 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: Adjust the white packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Adjust the white 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: Adjust the white packet in the bowl\n\u003c/PRED\u003e","video":"7495760704072594789.mp4"}
+{"uid":"7648832898664636112","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput two yellow chocolates into the third 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":"4462415424447392241.mp4"}
+{"uid":"12580441675046909493","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":"6520382315697891354.mp4"}
+{"uid":"14700238159614464025","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":"8626095502460827204.mp4"}
+{"uid":"596629714000464949","text":"\u003ctask:success:discrete:False\u003e\nput the packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask: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 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: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- 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":"12100167339796159607.mp4"}
+{"uid":"16372356561455018213","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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl 10- Put the orange packet in the bowl 11- put the fork in the stand 12- Put the fork in the holder 13- Put the fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl 10- Put the orange packet in the bowl 11- put the fork in the stand 12- Put the fork in the holder 13- Put the fork in the holder Q: immediate next step? \u003cPRED\u003eA: put the 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 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 fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e","video":"9568569375060901337.mp4"}
+{"uid":"6026009494086095553","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":"17574464280845174252.mp4"}
+{"uid":"13415270394282362403","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":"1649648947028183645.mp4"}
+{"uid":"18090583927447429936","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the stand\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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl 10- Put the orange packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the fork 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: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork 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 snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl 10- Put the orange packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the stand 2- Put the fork in the holder 3- Put the fork in the holder 4- Put the fork in the holder 5- done\n\u003c/PRED\u003e","video":"10674847704019039708.mp4"}
+{"uid":"2113984010668545560","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nThrow the yellow candy into the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1420917742767849294.mp4"}
+{"uid":"10794412098752377384","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the stand\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 fork in the stand\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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl 10- Put the orange packet in the bowl 11- put the fork in the stand 12- Put the fork in the holder Q: immediate next step? \u003cPRED\u003eA: put the fork in the stand\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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl 10- Put the orange packet in the bowl 11- put the fork in the stand 12- Put the fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the stand 2- Put the fork in the holder 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork 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":"343146958647191945.mp4"}
+{"uid":"15355335062323471303","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: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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl Q: immediate next step? \u003cPRED\u003eA: 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\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 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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- put the packet in the bowl 3- Put the blue packet in the bowl 4- Adjust the packets in the bowl 5- 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: place the packet in the tray\n\u003c/PRED\u003e","video":"2177543912585590590.mp4"}
+{"uid":"11229877500765570972","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":"10387717569862984657.mp4"}
+{"uid":"3004583361564155479","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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- Put the blue packet in the bowl 3- Adjust the packets in the bowl 4- Put the white packet in the bowl 5- Put the orange packet in the bowl\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:success:discrete:False\u003e\nplace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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\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 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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"4994993566562184677.mp4"}
+{"uid":"7675751984081663059","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: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 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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl 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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- put the fork in the stand 3- Put the fork in the holder 4- Put the fork in the holder 5- Put the fork in the holder\n\u003c/PRED\u003e","video":"3071828682841772202.mp4"}
+{"uid":"1178142637354779140","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: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 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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 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: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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- Put the orange packet in the bowl 3- put the fork in the stand 4- Put the fork in the holder 5- Put the fork in the holder\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: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":"3642919555176829677.mp4"}
+{"uid":"15794194554707258566","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGet it to the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6174957913073452415.mp4"}
+{"uid":"2075190317623134324","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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl 10- Put the orange packet in the bowl 11- put the fork in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the stand 2- Put the fork in the holder 3- Put the fork in the holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fork 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 snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the fork in the stand\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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl 10- Put the orange packet in the bowl 11- put the fork in the stand Q: immediate next step? \u003cPRED\u003eA: put the fork in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the fork 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":"220218689039131444.mp4"}
+{"uid":"7474205578521916065","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 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- Put the white packet in the bowl 2- put the packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- Adjust the white packet in the bowl 3- put the packet in the bowl 4- put the packet in the bowl 5- Put the blue packet in the bowl\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: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:success:discrete:False\u003e\nplace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- Put the white packet in the bowl 2- put the packet in the bowl Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"6321197308778460456.mp4"}
+{"uid":"15054429212343137747","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the bottom right silver 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":"15399669388473749834.mp4"}
+{"uid":"12390197443196083262","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":"3996120030070667140.mp4"}
+{"uid":"869075891434275058","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the forks on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17226315654989318185.mp4"}
+{"uid":"4610341387871582233","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":"14519055400844302025.mp4"}
+{"uid":"443728864396011281","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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl 10- Put the orange packet in the bowl 11- put the fork in the stand Q: immediate next step? \u003cPRED\u003eA: Put the 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 fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the 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- Put the white packet in the bowl 2- put the packet in the bowl 3- Put the white bowl in the bowl 4- Adjust the white packet in the bowl 5- put the packet in the bowl 6- put the packet in the bowl 7- Put the blue packet in the bowl 8- Adjust the packets in the bowl 9- Put the white packet in the bowl 10- Put the orange packet in the bowl 11- put the fork in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fork in the holder 2- Put the fork in the holder 3- Put the fork in the holder 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 fork in the holder\n\u003c/PRED\u003e","video":"11248342574613024108.mp4"}
+{"uid":"13533747759491569886","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up orange Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"574762890602086820.mp4"}
+{"uid":"17129465192863827422","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the cube shape object on the table 3- place the cube shape object on the table 4- close the drawer 5- open the drawer 6- place the triangle shape object on the table 7- place the cuboid shape object on the table 8- close the drawer 9- open the drawer 10- place the round object on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the circle shape object on the table 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the circle 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:affordance:discriminative:discrete:True\u003e\nplace the circle 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the circle shape object on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the circle shape object on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the cube shape object on the table 3- place the cube shape object on the table 4- close the drawer 5- open the drawer 6- place the triangle shape object on the table 7- place the cuboid shape object on the table 8- close the drawer 9- open the drawer 10- place the round object on the table Q: immediate next step? \u003cPRED\u003eA: place the circle shape object on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the block from the drawer Q: immediate next step? \u003cPRED\u003eA: place the circle shape object on the table\n\u003c/PRED\u003e","video":"14533066982732240329.mp4"}
+{"uid":"16547412842825909304","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15026906733831919865.mp4"}
+{"uid":"7239915229113403326","text":"\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 remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the cube shape object on the table 3- place the cube shape object on the table 4- close the drawer 5- open the drawer 6- place the triangle shape object on the table 7- place the cuboid shape object on the table 8- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the round object on the table 3- place the circle shape object on the table 4- close the drawer 5- done\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: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the cube shape object on the table 3- place the cube shape object on the table 4- close the drawer 5- open the drawer 6- place the triangle shape object on the table 7- place the cuboid shape object on the table 8- close the drawer 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:planning:freeform\u003e\ncurrent goal is: please remove the block from the drawer Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"5022759023524332014.mp4"}
+{"uid":"4239803099724244153","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the cube shape object on the table 3- place the cube shape object on the table 4- close the drawer 5- open the drawer 6- place the triangle shape object on the table 7- place the cuboid shape object on the table 8- close the drawer 9- open the drawer 10- place the round object on the table 11- place the circle shape object 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: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: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 remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the cube shape object on the table 3- place the cube shape object on the table 4- close the drawer 5- open the drawer 6- place the triangle shape object on the table 7- place the cuboid shape object on the table 8- close the drawer 9- open the drawer 10- place the round object on the table 11- place the circle shape object on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the block from the drawer Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"16843413980555811495.mp4"}
+{"uid":"6619561626697717267","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the cube shape object on the table 3- place the cube shape object on the table 4- close the drawer 5- open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance: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: please remove the block from the drawer Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"10470690089207771649.mp4"}
+{"uid":"1903401911171392750","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cuboid shape object on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cuboid 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:affordance:discriminative:discrete:True\u003e\nplace the cuboid 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 remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the cube shape object on the table 3- place the cube shape object on the table 4- close the drawer 5- open the drawer 6- place the triangle shape object on the table Q: immediate next step? \u003cPRED\u003eA: place the cuboid shape object on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the cube shape object on the table 3- place the cube shape object on the table 4- close the drawer 5- open the drawer 6- place the triangle shape object on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the cuboid shape object on the table 2- close the drawer 3- open the drawer 4- place the round object on the table 5- place the circle shape object on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cuboid shape object on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the block from the drawer Q: immediate next step? \u003cPRED\u003eA: place the cuboid shape object on the table\n\u003c/PRED\u003e","video":"5700903986244721610.mp4"}
+{"uid":"2212678768637416471","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cube shape object on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cube 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":"1503687938050386834.mp4"}
+{"uid":"4972710065264072381","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachio in the right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17321247934411202268.mp4"}
+{"uid":"15191691167996143417","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the block from the drawer Q: immediate next step? \u003cPRED\u003eA: place the round object on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the cube shape object on the table 3- place the cube shape object on the table 4- close the drawer 5- open the drawer 6- place the triangle shape object on the table 7- place the cuboid shape object on the table 8- close the drawer 9- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the round object on the table 2- place the circle shape object on the table 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the round object on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the round 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:success:discrete:False\u003e\nplace the round 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the cube shape object on the table 3- place the cube shape object on the table 4- close the drawer 5- open the drawer 6- place the triangle shape object on the table 7- place the cuboid shape object on the table 8- close the drawer 9- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the round object on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the round object on the table\n\u003c/PRED\u003e","video":"8536981087290385972.mp4"}
+{"uid":"18002417575399179953","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":"7103814822428879482.mp4"}
+{"uid":"10195949616052191094","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nAdjust 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":"363563013832899460.mp4"}
+{"uid":"11368422791906523135","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cube shape object on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cube 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":"745772229074862560.mp4"}
+{"uid":"1398468530901639031","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"9893614027861460481.mp4"}
+{"uid":"7094396727886345379","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":"3597593257133512902.mp4"}
+{"uid":"862760181133909039","text":"\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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:planning:freeform\u003e\ncurrent goal is: please remove the block from the drawer 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 remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the cube shape object on the table 3- place the cube shape object on the table 4- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the triangle shape object on the table 3- place the cuboid shape object on the table 4- close the drawer 5- open the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the cube shape object on the table 3- place the cube shape object on the table 4- close the drawer Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"5191934183700887965.mp4"}
+{"uid":"16453051521241667175","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the cube shape object on the table 3- place the cube shape object on the table 4- close the drawer 5- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the triangle shape object on the table 2- place the cuboid shape object on the table 3- close the drawer 4- open the drawer 5- place the round object on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the cube shape object on the table 3- place the cube shape object on the table 4- close the drawer 5- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the triangle shape object on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the triangle 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the triangle shape object on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the triangle shape object on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the triangle 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 remove the block from the drawer Q: immediate next step? \u003cPRED\u003eA: place the triangle shape object on the table\n\u003c/PRED\u003e","video":"9827368241495623711.mp4"}
+{"uid":"5563254959692235509","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":"18053671459686846057.mp4"}
+{"uid":"2274885867371792308","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the right play stick on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12894913238012053259.mp4"}
+{"uid":"17499511646346536180","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cube shape object on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the cube shape object on the table Q: immediate next step? \u003cPRED\u003eA: place the cube shape object on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the cube shape object on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the cube shape object on the table 2- close the drawer 3- open the drawer 4- place the triangle shape object on the table 5- place the cuboid shape object on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the block from the drawer Q: immediate next step? \u003cPRED\u003eA: place the cube shape object on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cube shape object on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cube 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","video":"13244205199888512708.mp4"}
+{"uid":"4684659050587714898","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9443209395791099251.mp4"}
+{"uid":"10258740891695177377","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the cube shape object on the table 3- place the cube shape object on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the block from the drawer 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: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 remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the cube shape object on the table 3- place the cube shape object on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- open the drawer 3- place the triangle shape object on the table 4- place the cuboid shape object on the table 5- 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","video":"9984784270474601385.mp4"}
+{"uid":"10465782960419516329","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":"13400487815750784867.mp4"}
+{"uid":"7722772556145901336","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black 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":"8329884262719052764.mp4"}
+{"uid":"7240890240146692025","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the cube shape object on the table 3- place the cube shape object on the table 4- close the drawer 5- open the drawer 6- place the triangle shape object on the table 7- place the cuboid shape object on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- open the drawer 3- place the round object on the table 4- place the circle shape object on the table 5- 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 remove the block from the drawer. last 20 steps: 1- open the drawer 2- place the cube shape object on the table 3- place the cube shape object on the table 4- close the drawer 5- open the drawer 6- place the triangle shape object on the table 7- place the cuboid shape object on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the block from the drawer 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"1017613655747979779.mp4"}
+{"uid":"102157781826960722","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":"3665085004707328173.mp4"}
+{"uid":"4430532263914785472","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the indoor plant 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":"11968518739854768940.mp4"}
+{"uid":"15797141500722590114","text":"\u003ctask:success:discrete:False\u003e\nplace the cube 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the cube shape object on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the block from the drawer Q: immediate next step? \u003cPRED\u003eA: place the cube shape object on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the block from the drawer. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the cube shape object on the table 2- place the cube shape object on the table 3- close the drawer 4- open the drawer 5- place the triangle shape object on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cube shape object on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cube shape object on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cube 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","video":"6721327902714312327.mp4"}
+{"uid":"7407368249762450657","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10053347148960995323.mp4"}
+{"uid":"396685078500740469","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":"7293097139967111848.mp4"}
+{"uid":"12236971387269557186","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":"17077885352953178215.mp4"}
+{"uid":"14442230838537855792","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket 3- drop the packet into the basket 4- Put a packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet into the basket 2- Put a packet in the basket 3- Put a packet in the basket 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop paper packet in a 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: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket 3- drop the packet into the basket 4- Put a packet in the basket Q: immediate next step? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e","video":"2092307534342786895.mp4"}
+{"uid":"848748616339896689","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop paper packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop paper packet in a tray 2- drop the packet into the basket 3- Put a packet in the basket 4- Put a packet in the basket 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket Q: immediate next step? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e","video":"13285716598340616744.mp4"}
+{"uid":"17058079280797941617","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket 3- drop the packet into the basket 4- Put a packet in the basket 5- drop the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put a packet in the basket 2- Put a packet in the basket 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: Put a packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket 3- drop the packet into the basket 4- Put a packet in the basket 5- drop the packet into the basket Q: immediate next step? \u003cPRED\u003eA: Put a packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14700158484228958124.mp4"}
+{"uid":"2004662654083599234","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":"11934326298114201036.mp4"}
+{"uid":"16089646605630504212","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1792335497240620738.mp4"}
+{"uid":"1199678026377020454","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet into the basket 2- drop the packet into the basket 3- Put a packet in the basket 4- drop the packet into the basket 5- Put a packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket Q: immediate next step? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e","video":"12426029428527794241.mp4"}
+{"uid":"8882025096172015992","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put a packet in the basket 2- Put a packet in the basket 3- drop the packet into the basket 4- Put a packet in the basket 5- Put a packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut a packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a 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 a packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket Q: immediate next step? \u003cPRED\u003eA: Put a packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: Put a packet in the basket\n\u003c/PRED\u003e","video":"1287582122367025967.mp4"}
+{"uid":"6349122945852285955","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"15580129715753408491.mp4"}
+{"uid":"5390912045682049702","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket Q: immediate next step? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop paper packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop paper packet in a tray 2- Put a packet in the basket 3- drop the packet into the basket 4- Put a packet in the basket 5- Put a packet in the basket\n\u003c/PRED\u003e","video":"8255038197365130859.mp4"}
+{"uid":"2269231666743372454","text":"\u003ctask:success:discrete:True\u003e\ndrop paper packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e","video":"967039713333104231.mp4"}
+{"uid":"9866805455970599863","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket 3- drop the packet into the basket 4- Put a packet in the basket 5- drop the packet into the basket 6- Put a packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop paper packet in a tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket 3- drop the packet into the basket 4- Put a packet in the basket 5- drop the packet into the basket 6- Put a packet in the basket Q: immediate next step? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop paper packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop paper packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17304275377017720491.mp4"}
+{"uid":"6564774870909557839","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab 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":"15872895024457916463.mp4"}
+{"uid":"4079652816555481930","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket 3- drop the packet into the basket 4- Put a packet in the basket 5- drop the packet into the basket Q: immediate next step? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket 3- drop the packet into the basket 4- Put a packet in the basket 5- drop the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop paper packet in a tray 2- Put a packet in the basket 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop paper packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop paper packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e","video":"14531216935880855140.mp4"}
+{"uid":"3537880299908461066","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket Q: immediate next step? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet into the basket 2- drop the packet into the basket 3- Put a packet in the basket 4- Put a packet in the basket 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18104765894354078341.mp4"}
+{"uid":"2767070966077602587","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white 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":"7341502882552235539.mp4"}
+{"uid":"10192017194408976453","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop paper packet in a 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":"13088724644452311498.mp4"}
+{"uid":"5881583950627623021","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut a 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":"1976659147626153596.mp4"}
+{"uid":"8531058822860902408","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":"1595113203067114889.mp4"}
+{"uid":"11728105207072175354","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5559356393261277731.mp4"}
+{"uid":"11081942586195145065","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket 3- drop the packet into the basket 4- Put a packet in the basket 5- drop the packet into the basket Q: immediate next step? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket 3- drop the packet into the basket 4- Put a packet in the basket 5- drop the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet into the basket 2- Put a packet in the basket 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3107609268870428710.mp4"}
+{"uid":"8418990465815574541","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":"2701308578065122504.mp4"}
+{"uid":"3739673962957561519","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket 3- drop the packet into the basket Q: immediate next step? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket 3- drop the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet into the basket 2- drop the packet into the basket 3- Put a packet in the basket 4- Put a packet in the basket 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e","video":"11700140766403191481.mp4"}
+{"uid":"8492927885810482274","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket 3- drop the packet into the basket 4- Put a packet in the basket 5- drop the packet into the basket 6- Put a packet in the basket 7- drop paper packet in a tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop paper packet in a 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: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket 3- drop the packet into the basket 4- Put a packet in the basket 5- drop the packet into the basket 6- Put a packet in the basket 7- drop paper packet in a tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"11226473373609492440.mp4"}
+{"uid":"16799586447910113916","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a backet 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 a backet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut a backet 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: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put a backet in the basket 2- Put a packet in the basket 3- drop the packet into the basket 4- Put a packet in the basket 5- Put a packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a backet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put a backet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: Put a backet in the basket\n\u003c/PRED\u003e","video":"108841999262163837.mp4"}
+{"uid":"7417401232216148192","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a yellow packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13660928060183774901.mp4"}
+{"uid":"11718733790411718681","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMix the coffee with the stick Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15664324266934729706.mp4"}
+{"uid":"5646698996598934294","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a packet in the basket\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut a packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9849608290198614170.mp4"}
+{"uid":"14442598375199728566","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: Put a packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut a packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put a packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put a packet in the basket 2- drop the packet into the basket 3- drop the packet into the basket 4- Put a packet in the basket 5- drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a packet in the basket\n\u003c/PRED\u003e","video":"10939817313304010458.mp4"}
+{"uid":"13427757676389490217","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop paper packet in a 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":"6212185367041067419.mp4"}
+{"uid":"4723179307860281508","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":"8132020169011864490.mp4"}
+{"uid":"16747215568451813578","text":"\u003ctask:success:discrete:True\u003e\ndrop the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e","video":"14464413029702015396.mp4"}
+{"uid":"17723385790786453651","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop paper packet in a 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":"8707248098980141016.mp4"}
+{"uid":"8071159813029782417","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrag the book towards the edge 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":"7777768432508703967.mp4"}
+{"uid":"13019268945418332073","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red bull can 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":"17883864433063887237.mp4"}
+{"uid":"7649422968999632702","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace an apple 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":"42714441054180299.mp4"}
+{"uid":"13139026999197304598","text":"\u003ctask:success:discrete:False\u003e\ndrop the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket 3- drop the packet into the basket 4- Put a packet in the basket 5- drop the packet into the basket 6- Put a packet in the basket Q: immediate next step? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket 3- drop the packet into the basket 4- Put a packet in the basket 5- drop the packet into the basket 6- Put a packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet into the basket 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e","video":"8229961663396353693.mp4"}
+{"uid":"7646632798511394384","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":"14470496871097230234.mp4"}
+{"uid":"14193879456890812908","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":"393664456209834438.mp4"}
+{"uid":"6859065359428418403","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: Put a packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a 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: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put a packet in the basket 2- drop the packet into the basket 3- Put a packet in the basket 4- Put a packet in the basket 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket Q: immediate next step? \u003cPRED\u003eA: Put a packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a packet in the basket\n\u003c/PRED\u003e","video":"14474468074811351017.mp4"}
+{"uid":"7575158359691248543","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the packet into the basket 2- drop the packet into the basket 3- drop the packet into the basket 4- Put a packet in the basket 5- drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e","video":"17283432903267037406.mp4"}
+{"uid":"174907559848540690","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket 3- drop the packet into the basket Q: immediate next step? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop paper packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop paper packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket 3- drop the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- drop paper packet in a tray 2- drop the packet into the basket 3- Put a packet in the basket 4- Put a packet in the basket 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e","video":"1804342490459439547.mp4"}
+{"uid":"1801628407815001042","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop paper packet in a tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop paper packet in a tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop paper packet in a tray 2- drop the packet into the basket 3- Put a packet in the basket 4- drop the packet into the basket 5- Put a packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop paper packet in a tray\n\u003c/PRED\u003e","video":"1368771028848942006.mp4"}
+{"uid":"13682251749756535665","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut a 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":"7640662438061610069.mp4"}
+{"uid":"6457566622947974859","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket 3- drop the packet into the basket 4- Put a packet in the basket 5- drop the packet into the basket 6- Put a packet in the basket Q: immediate next step? \u003cPRED\u003eA: Put a packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket 3- drop the packet into the basket 4- Put a packet in the basket 5- drop the packet into the basket 6- Put a packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Put a packet in the basket 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: Put a packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a 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 a 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 a packet in the basket\n\u003c/PRED\u003e","video":"915876150055472652.mp4"}
+{"uid":"14881772051428973057","text":"\u003ctask:success:discrete:True\u003e\nPut a packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a packet in the basket\n\u003c/PRED\u003e","video":"2074619632648986758.mp4"}
+{"uid":"13195207868365945008","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a backet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut a backet 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":"4858465507781711461.mp4"}
+{"uid":"5013618468956685627","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":"3066921845376621010.mp4"}
+{"uid":"4728505585992635158","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the green marker in the right transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7267478235828804680.mp4"}
+{"uid":"7715600157615524564","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put a packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket 3- drop the packet into the basket 4- Put a packet in the basket 5- drop the packet into the basket 6- Put a packet in the basket 7- Put a packet in the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket 3- drop the packet into the basket 4- Put a packet in the basket 5- drop the packet into the basket 6- Put a packet in the basket 7- Put a packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut a 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":"1563961090725695628.mp4"}
+{"uid":"3101987423614380241","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":"6106754515942690968.mp4"}
+{"uid":"14510946974233309071","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket 3- drop the packet into the basket 4- Put a packet in the basket 5- drop the packet into the basket 6- Put a packet in the basket 7- drop the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- Put a packet in the basket 2- drop the packet into the basket 3- drop the packet into the basket 4- Put a packet in the basket 5- drop the packet into the basket 6- Put a packet in the basket 7- drop the packet into the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the packet into the basket\n\u003c/PRED\u003e","video":"10622824778966564083.mp4"}
+{"uid":"18337807372023333602","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4116988613844279568.mp4"}
+{"uid":"4197748967402761764","text":"\u003ctask:success:discrete:True\u003e\ndraw on board with marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: draw on board with marker\n\u003c/PRED\u003e","video":"4457385271118552977.mp4"}
+{"uid":"16939305968016570696","text":"\u003ctask:success:discrete:True\u003e\ndraw on board with marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: draw on board with marker\n\u003c/PRED\u003e","video":"17444394362699067702.mp4"}
+{"uid":"5836412972048745580","text":"\u003ctask:success:discrete:False\u003e\npick up a marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up a marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up a marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up a marker 2- write on the white board 3- write on the white board 4- write on the white board 5- write on the white board\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up a marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up a marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. Q: immediate next step? \u003cPRED\u003eA: pick up a marker\n\u003c/PRED\u003e","video":"11425899929619102585.mp4"}
+{"uid":"6210422557086260391","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":"45987293398401735.mp4"}
+{"uid":"8386059523149833424","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor 2- take a marker towards board 3- write on the white board 4- write on the white board 5- write on the white board 6- write on the white board Q: next 5 steps? \u003cPRED\u003eA: 1- draw on board with marker 2- draw on board with marker 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor 2- take a marker towards board 3- write on the white board 4- write on the white board 5- write on the white board 6- write on the white board Q: immediate next step? \u003cPRED\u003eA: draw on board with marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: draw on board with marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: draw on board with marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndraw on board with 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: pick up the marker and draw a picture. Q: immediate next step? \u003cPRED\u003eA: draw on board with marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndraw on board with marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12282416657298308255.mp4"}
+{"uid":"3149175262759153347","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":"9198181803068673308.mp4"}
+{"uid":"6921456683677465253","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":"16097074528316840502.mp4"}
+{"uid":"2538277364619463961","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndraw on board with 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: pick up the marker and draw a picture. Q: immediate next step? \u003cPRED\u003eA: draw on board with marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor 2- take a marker towards board 3- write on the white board 4- write on the white board 5- write on the white board 6- write on the white board 7- draw on board with marker Q: next 5 steps? \u003cPRED\u003eA: 1- draw on board with marker 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: draw on board with marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: draw on board with marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor 2- take a marker towards board 3- write on the white board 4- write on the white board 5- write on the white board 6- write on the white board 7- draw on board with marker Q: immediate next step? \u003cPRED\u003eA: draw on board with marker\n\u003c/PRED\u003e","video":"4041326157177580167.mp4"}
+{"uid":"12553234848561512496","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8876876433527733499.mp4"}
+{"uid":"1991192484445828177","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: draw on board with marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. Q: immediate next step? \u003cPRED\u003eA: draw on board with marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor 2- take a marker towards board 3- write on the white board Q: immediate next step? \u003cPRED\u003eA: draw on board with marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor 2- take a marker towards board 3- write on the white board Q: next 5 steps? \u003cPRED\u003eA: 1- draw on board with marker 2- draw on board with marker 3- draw on board with marker 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndraw on board with marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: draw on board with marker\n\u003c/PRED\u003e","video":"7324534480749156197.mp4"}
+{"uid":"536923141628606451","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the 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- put the can in the tray 2- put the can in the tray 3- put the can in the tray 4- put the can in the tray Q: immediate next step? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the 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- put the can in the tray 2- put the can in the tray 3- put the can in the tray 4- put the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the can in the tray 2- put the can in the tray 3- put the can in the tray 4- done\n\u003c/PRED\u003e","video":"16884194103675955843.mp4"}
+{"uid":"15100620238869884955","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sugar 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":"2646362873721874072.mp4"}
+{"uid":"8005511368035097576","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor Q: immediate next step? \u003cPRED\u003eA: take a marker towards board\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntake a marker towards 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take a marker towards board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor Q: next 5 steps? \u003cPRED\u003eA: 1- take a marker towards board 2- write on the white board 3- write on the white board 4- write on the white board 5- write on the white board\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take a marker towards board\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. Q: immediate next step? \u003cPRED\u003eA: take a marker towards board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake a marker towards 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","video":"14350426461492356698.mp4"}
+{"uid":"1699514029159733936","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nwrite on the white board Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor 2- take a marker towards board 3- write on the white board 4- write on the white board 5- write on the white board Q: immediate next step? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor 2- take a marker towards board 3- write on the white board 4- write on the white board 5- write on the white board Q: next 5 steps? \u003cPRED\u003eA: 1- write on the white board 2- draw on board with marker 3- draw on board with marker 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. Q: immediate next step? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e","video":"11652541854711107287.mp4"}
+{"uid":"14262182131459426099","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":"15589917439509127604.mp4"}
+{"uid":"11799184358914158295","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor 2- take a marker towards board 3- write on the white board 4- write on the white board 5- write on the white board 6- write on the white board 7- draw on board with marker 8- draw on board with marker Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: draw on board with marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndraw on board with 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:planning:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor 2- take a marker towards board 3- write on the white board 4- write on the white board 5- write on the white board 6- write on the white board 7- draw on board with marker 8- draw on board with marker Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6050510004672080607.mp4"}
+{"uid":"17413210992269096301","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop corn ball in paper 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":"3025828771598461763.mp4"}
+{"uid":"17928499168133118639","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nwrite on the white 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","video":"5509276974743736153.mp4"}
+{"uid":"11488319711418939174","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up amarker 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up amarker from floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up amarker from floor 2- take a marker towards board 3- write on the white board 4- write on the white board 5- write on the white board\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up amarker from floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up amarker from floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. Q: immediate next step? \u003cPRED\u003eA: pick up amarker from floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up amarker 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":"9250467315925534738.mp4"}
+{"uid":"1324164058784279643","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the can in the tray 2- put the can in the tray 3- put the can in the tray 4- put the can in the tray 5- put 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: put 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: put the can in the tray\n\u003c/PRED\u003e","video":"7060467551600175093.mp4"}
+{"uid":"17829165072280417062","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8415487157229346614.mp4"}
+{"uid":"13610829559648806389","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. Q: immediate next step? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the marker 2- write on the white board 3- write on the white board 4- write on the white board 5- write on the white board\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4094949609700957120.mp4"}
+{"uid":"13127901253757706419","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nwrite on the white 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor 2- take a marker towards board 3- write on the white board 4- write on the white board 5- write on the white board 6- write on the white board 7- draw on board with marker Q: immediate next step? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor 2- take a marker towards board 3- write on the white board 4- write on the white board 5- write on the white board 6- write on the white board 7- draw on board with marker Q: next 5 steps? \u003cPRED\u003eA: 1- write on the white board 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. Q: immediate next step? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e","video":"15317289249044980118.mp4"}
+{"uid":"6740904604740463038","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the black 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":"8159264526595272239.mp4"}
+{"uid":"17923656336635387792","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"2199895881248938905.mp4"}
+{"uid":"18287607766273194253","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: put 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- put the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the can in the tray 2- put the can in the tray 3- put the can in the tray 4- put the can in the tray 5- put 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- put the can in the tray Q: immediate next step? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e","video":"11947909076497963511.mp4"}
+{"uid":"13814055256653653963","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the 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- put the can in the tray 2- put the can in the tray 3- put the can in the tray 4- put the can in the tray 5- put the can in the tray Q: immediate next step? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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- put the can in the tray 2- put the can in the tray 3- put the can in the tray 4- put the can in the tray 5- put the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the can in the tray 2- put the can in the tray 3- done\n\u003c/PRED\u003e","video":"17483757308941346527.mp4"}
+{"uid":"7781364675354055594","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose 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":"9283877887827154583.mp4"}
+{"uid":"11748644536126736237","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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- put the can in the tray 2- put the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the can in the tray 2- put the can in the tray 3- put the can in the tray 4- put the can in the tray 5- put the can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the 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- put the can in the tray 2- put the can in the tray Q: immediate next step? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e","video":"11425397269573968798.mp4"}
+{"uid":"14639512707565974354","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndraw on board with marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndraw on board with 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: draw on board with marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: draw on board with marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. Q: immediate next step? \u003cPRED\u003eA: draw on board with marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor 2- take a marker towards board Q: next 5 steps? \u003cPRED\u003eA: 1- draw on board with marker 2- write on the white board 3- write on the white board 4- write on the white board 5- draw on board with marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor 2- take a marker towards board Q: immediate next step? \u003cPRED\u003eA: draw on board with marker\n\u003c/PRED\u003e","video":"5190474586863828706.mp4"}
+{"uid":"18315875720686907049","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor 2- take a marker towards board Q: immediate next step? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nwrite on the white 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor 2- take a marker towards board Q: next 5 steps? \u003cPRED\u003eA: 1- write on the white board 2- write on the white board 3- write on the white board 4- write on the white board 5- draw on board with marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nwrite on the white 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:planning:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. Q: immediate next step? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e","video":"10263308335762949289.mp4"}
+{"uid":"5421755996044333528","text":"\u003ctask:success:discrete:True\u003e\nwrite on the white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e","video":"8232283448179265940.mp4"}
+{"uid":"4226566997075655208","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the orange packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13993387639731154839.mp4"}
+{"uid":"3007506134839303431","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":"8846620496144299284.mp4"}
+{"uid":"4805002261576534318","text":"\u003ctask:success:discrete:True\u003e\npick up a marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up a marker\n\u003c/PRED\u003e","video":"6263563885881005356.mp4"}
+{"uid":"17711676386047748443","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: take a marker towards board\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ntake a marker towards 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","video":"6564017713573243513.mp4"}
+{"uid":"12307174791353363867","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":"13523265145875136010.mp4"}
+{"uid":"13787112808057445584","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 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- put the can in the tray 2- put the can in the tray 3- put the can in the tray 4- put the can in the tray 5- put the can in the tray 6- put the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the can in the tray 2- 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- put the can in the tray 2- put the can in the tray 3- put the can in the tray 4- put the can in the tray 5- put the can in the tray 6- put the can in the tray Q: immediate next step? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the 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: put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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":"2562087252642511848.mp4"}
+{"uid":"5459233547468893944","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green marker 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":"11037137363975651328.mp4"}
+{"uid":"17685975941406800997","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor 2- take a marker towards board 3- write on the white board 4- write on the white board 5- write on the white board 6- write on the white board 7- draw on board with marker 8- write on the white board Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor 2- take a marker towards board 3- write on the white board 4- write on the white board 5- write on the white board 6- write on the white board 7- draw on board with marker 8- write on the white board Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nwrite on the white 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:planning:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17900147810034344694.mp4"}
+{"uid":"13934874406974511857","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11494531807839157844.mp4"}
+{"uid":"15124369760721982365","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":"1365009175834977298.mp4"}
+{"uid":"10719161176302760819","text":"\u003ctask:success:discrete:True\u003e\ndraw on board with marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: draw on board with marker\n\u003c/PRED\u003e","video":"15461744088315383872.mp4"}
+{"uid":"8929626625228651069","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the sponge on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6506137697452465086.mp4"}
+{"uid":"12281101314325714911","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the spoon in the coffee pea Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3895067038412527062.mp4"}
+{"uid":"4784083580872614350","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nwrite on the white 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:planning:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. Q: immediate next step? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor 2- take a marker towards board 3- write on the white board Q: immediate next step? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor 2- take a marker towards board 3- write on the white board Q: next 5 steps? \u003cPRED\u003eA: 1- write on the white board 2- write on the white board 3- write on the white board 4- draw on board with marker 5- draw on board with marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e","video":"2541458939186173297.mp4"}
+{"uid":"3530485857536142726","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":"7506965771748031670.mp4"}
+{"uid":"756726019347925491","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":"12077902403300252497.mp4"}
+{"uid":"4555918049245485376","text":"\u003ctask:success:discrete:True\u003e\nwrite on the white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e","video":"18197072841535286298.mp4"}
+{"uid":"5362840439647988365","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor 2- take a marker towards board 3- write on the white board 4- write on the white board 5- write on the white board 6- write on the white board Q: immediate next step? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. Q: immediate next step? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nwrite on the white 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor 2- take a marker towards board 3- write on the white board 4- write on the white board 5- write on the white board 6- write on the white board Q: next 5 steps? \u003cPRED\u003eA: 1- write on the white board 2- draw on board with marker 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e","video":"2674412027255522682.mp4"}
+{"uid":"22835333531272743","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put the can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the 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: put 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- put the can in the tray 2- put the can in the tray 3- put the can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the can in the tray 2- put the can in the tray 3- put the can in the tray 4- put the can in the tray 5- 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- put the can in the tray 2- put the can in the tray 3- put the can in the tray Q: immediate next step? \u003cPRED\u003eA: put the can in the tray\n\u003c/PRED\u003e","video":"10909991265124319285.mp4"}
+{"uid":"1306065268408746470","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nwrite on the white 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:planning:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. Q: immediate next step? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor 2- take a marker towards board 3- write on the white board 4- write on the white board Q: next 5 steps? \u003cPRED\u003eA: 1- write on the white board 2- write on the white board 3- draw on board with marker 4- draw on board with marker 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: pick up the marker and draw a picture. last 20 steps: 1- pick up amarker from floor 2- take a marker towards board 3- write on the white board 4- write on the white board Q: immediate next step? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: write on the white board\n\u003c/PRED\u003e","video":"10450834076003681902.mp4"}
+{"uid":"17401130944285430459","text":"\u003ctask:success:discrete:True\u003e\npick up amarker 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up amarker from floor\n\u003c/PRED\u003e","video":"15804348170750869500.mp4"}
+{"uid":"13149007206030943993","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room with 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: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand 6- adjust the cup 7- open the jar lid 8- adjust the glass 9- pick up the scoop 10- put the candies in the glass 11- put the candies in the glass 12- put the candies in the glass 13- put scoop in the stand 14- put glass on the table 15- close the jar with lid Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room with glass 2- put the glass on the black table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room with glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand 6- adjust the cup 7- open the jar lid 8- adjust the glass 9- pick up the scoop 10- put the candies in the glass 11- put the candies in the glass 12- put the candies in the glass 13- put scoop in the stand 14- put glass on the table 15- close the jar with lid Q: immediate next step? \u003cPRED\u003eA: exit the room with glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some Q: immediate next step? \u003cPRED\u003eA: exit the room with glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room with glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room with glass\n\u003c/PRED\u003e","video":"1294077678614101877.mp4"}
+{"uid":"192725755537559773","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":"6189680632869534081.mp4"}
+{"uid":"3579070950370277212","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the glass on the black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand 6- adjust the cup 7- open the jar lid 8- adjust the glass 9- pick up the scoop 10- put the candies in the glass 11- put the candies in the glass 12- put the candies in the glass 13- put scoop in the stand 14- put glass on the table 15- close the jar with lid 16- exit the room with glass 17- put the glass on the black table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the glass on the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand 6- adjust the cup 7- open the jar lid 8- adjust the glass 9- pick up the scoop 10- put the candies in the glass 11- put the candies in the glass 12- put the candies in the glass 13- put scoop in the stand 14- put glass on the table 15- close the jar with lid 16- exit the room with glass 17- put the glass on the black table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"468149164103288437.mp4"}
+{"uid":"18134588071675653738","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the lead 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":"12681571289438430729.mp4"}
+{"uid":"4979603945290668580","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the jar lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand 6- adjust the cup Q: next 5 steps? \u003cPRED\u003eA: 1- open the jar lid 2- adjust the glass 3- pick up the scoop 4- put the candies in the glass 5- put the candies in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some Q: immediate next step? \u003cPRED\u003eA: open the jar lid\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the jar lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the jar lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the jar lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand 6- adjust the cup Q: immediate next step? \u003cPRED\u003eA: open the jar lid\n\u003c/PRED\u003e","video":"13508360773836674038.mp4"}
+{"uid":"17064831063593447205","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candies in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand 6- adjust the cup 7- open the jar lid 8- adjust the glass 9- pick up the scoop Q: immediate next step? \u003cPRED\u003eA: put the candies in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candies in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some Q: immediate next step? \u003cPRED\u003eA: put the candies in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candies 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: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand 6- adjust the cup 7- open the jar lid 8- adjust the glass 9- pick up the scoop Q: next 5 steps? \u003cPRED\u003eA: 1- put the candies in the glass 2- put the candies in the glass 3- put the candies in the glass 4- put scoop in the stand 5- put glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candies in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18072217312909062284.mp4"}
+{"uid":"13039771562378528197","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":"5293181345733557415.mp4"}
+{"uid":"2210132042976968586","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand 6- adjust the cup 7- open the jar lid 8- adjust the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the scoop 2- put the candies in the glass 3- put the candies in the glass 4- put the candies in the glass 5- put scoop in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand 6- adjust the cup 7- open the jar lid 8- adjust the glass Q: immediate next step? \u003cPRED\u003eA: pick up the scoop\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some Q: immediate next step? \u003cPRED\u003eA: pick up the scoop\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the scoop\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the scoop Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the scoop\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12984905016504820019.mp4"}
+{"uid":"11229413581463673317","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachio 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":"13160393810278504095.mp4"}
+{"uid":"12250551252603570882","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self Q: immediate next step? \u003cPRED\u003eA: adjust the cup\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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some Q: immediate next step? \u003cPRED\u003eA: adjust the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the cup 2- adjust the jar 3- adjust the cup 4- adjust the stand 5- adjust the cup\n\u003c/PRED\u003e","video":"7465688645592250502.mp4"}
+{"uid":"8069033831625975031","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"12408732461193690773.mp4"}
+{"uid":"10347209085422604221","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the can Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5812724528854515517.mp4"}
+{"uid":"17756345311576979284","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the tray. last 20 steps: 1- Put the brown packet in the tray 2- Put the brown packet in the tray 3- Put the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet in the tray 2- Put the orange packet in the tray 3- Put the brown packet in the tray 4- Arrange the packets 5- Put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the tray. last 20 steps: 1- Put the brown packet in the tray 2- Put the brown packet in the tray 3- Put the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet in the tray\n\u003c/PRED\u003e","video":"3961774094212230932.mp4"}
+{"uid":"6805864155620945446","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candies in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the candies 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":"1071755265428127112.mp4"}
+{"uid":"3661315017712987295","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the mouse 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":"8307224542756801083.mp4"}
+{"uid":"12422475902977143445","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":"6696983854733837894.mp4"}
+{"uid":"8218986683019171995","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":"10552581369879412568.mp4"}
+{"uid":"6048141409283308226","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand 6- adjust the cup 7- open the jar lid Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the glass 2- pick up the scoop 3- put the candies in the glass 4- put the candies in the glass 5- put the candies in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand 6- adjust the cup 7- open the jar lid Q: immediate next step? \u003cPRED\u003eA: adjust the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some Q: immediate next step? \u003cPRED\u003eA: adjust the glass\n\u003c/PRED\u003e","video":"1744618697513074486.mp4"}
+{"uid":"3660641072596319787","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup in the self\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cup in the self Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup in the self\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some Q: immediate next step? \u003cPRED\u003eA: put the cup in the self\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the cup in the self\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cup in the self Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand\n\u003c/PRED\u003e","video":"2018258985185476935.mp4"}
+{"uid":"18115765224038295280","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"13432937588506595732.mp4"}
+{"uid":"985715186460088343","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the tray. last 20 steps: 1- Put the brown packet in the tray 2- Put the brown packet in the tray 3- Put the orange packet in the tray 4- Put the orange packet in the tray 5- Put the orange packet in the tray 6- Put the brown packet in the tray 7- Arrange the packets 8- Put the orange packet in the tray 9- Put the orange packet in the tray 10- Put the brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the tray. last 20 steps: 1- Put the brown packet in the tray 2- Put the brown packet in the tray 3- Put the orange packet in the tray 4- Put the orange packet in the tray 5- Put the orange packet in the tray 6- Put the brown packet in the tray 7- Arrange the packets 8- Put the orange packet in the tray 9- Put the orange packet in the tray 10- Put the brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the 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 the brown packet in the tray\n\u003c/PRED\u003e","video":"17482095020423570813.mp4"}
+{"uid":"997617760353130037","text":"\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the jar with lid\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: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand 6- adjust the cup 7- open the jar lid 8- adjust the glass 9- pick up the scoop 10- put the candies in the glass 11- put the candies in the glass 12- put the candies in the glass 13- put scoop in the stand 14- put glass on the table Q: immediate next step? \u003cPRED\u003eA: close the jar with lid\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some Q: immediate next step? \u003cPRED\u003eA: close the jar with lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand 6- adjust the cup 7- open the jar lid 8- adjust the glass 9- pick up the scoop 10- put the candies in the glass 11- put the candies in the glass 12- put the candies in the glass 13- put scoop in the stand 14- put glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the jar with lid 2- exit the room with glass 3- put the glass on the black table 4- done\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","video":"11040962393007657186.mp4"}
+{"uid":"17979782563492329643","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the glasses in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"172706850032205641.mp4"}
+{"uid":"3968832399226111331","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the tray. last 20 steps: 1- Put the brown packet in the tray 2- Put the brown packet in the tray 3- Put the orange packet in the tray 4- Put the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the tray. last 20 steps: 1- Put the brown packet in the tray 2- Put the brown packet in the tray 3- Put the orange packet in the tray 4- Put the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet in the tray 2- Put the brown packet in the tray 3- Arrange the packets 4- Put the orange packet in the tray 5- Put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange packet in the tray\n\u003c/PRED\u003e","video":"11787680886133840909.mp4"}
+{"uid":"13381941775788748197","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":"9520866889990262670.mp4"}
+{"uid":"12252542552631492820","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cup in the self\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the cup in the self Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11523760726401690322.mp4"}
+{"uid":"6077207654526204982","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown chocolate stone in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4096542191668015984.mp4"}
+{"uid":"16600338635190252045","text":"\u003ctask:success:discrete:False\u003e\nadjust 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\nadjust 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: adjust the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some Q: immediate next step? \u003cPRED\u003eA: adjust the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the jar 2- adjust the cup 3- adjust the stand 4- adjust the cup 5- open the jar lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup Q: immediate next step? \u003cPRED\u003eA: adjust the jar\n\u003c/PRED\u003e","video":"18096974154899748454.mp4"}
+{"uid":"17418192444596088083","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the packets\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the tray. last 20 steps: 1- Put the brown packet in the tray 2- Put the brown packet in the tray 3- Put the orange packet in the tray 4- Put the orange packet in the tray 5- Put the orange packet in the tray 6- Put the brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the packets 2- Put the orange packet in the tray 3- Put the orange packet in the tray 4- Put the brown packet in the tray 5- Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nArrange the packets Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 packets\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 tray Q: immediate next step? \u003cPRED\u003eA: Arrange the packets\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the tray. last 20 steps: 1- Put the brown packet in the tray 2- Put the brown packet in the tray 3- Put the orange packet in the tray 4- Put the orange packet in the tray 5- Put the orange packet in the tray 6- Put the brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: Arrange the packets\n\u003c/PRED\u003e","video":"8743886941773758708.mp4"}
+{"uid":"239237854163631184","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the 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":"17947912113792013092.mp4"}
+{"uid":"10756455637959235954","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the tray. last 20 steps: 1- Put the brown packet in the tray 2- Put the brown packet in the tray 3- Put the orange packet in the tray 4- Put the orange packet in the tray 5- Put the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the tray. last 20 steps: 1- Put the brown packet in the tray 2- Put the brown packet in the tray 3- Put the orange packet in the tray 4- Put the orange packet in the tray 5- Put the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the tray 2- Arrange the packets 3- Put the orange packet in the tray 4- Put the orange packet in the tray 5- Put the 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 the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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: Please place the chips into the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown 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 packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown 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":"15454010210267599874.mp4"}
+{"uid":"5919350501874090373","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the tray. last 20 steps: 1- Put the brown packet in the tray 2- Put the brown packet in the tray 3- Put the orange packet in the tray 4- Put the orange packet in the tray 5- Put the orange packet in the tray 6- Put the brown packet in the tray 7- Arrange the packets 8- Put the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet in the tray 2- Put the brown packet in the tray 3- Put the brown packet in the tray 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the tray. last 20 steps: 1- Put the brown packet in the tray 2- Put the brown packet in the tray 3- Put the orange packet in the tray 4- Put the orange packet in the tray 5- Put the orange packet in the tray 6- Put the brown packet in the tray 7- Arrange the packets 8- Put the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the tray\n\u003c/PRED\u003e","video":"16281704115505294584.mp4"}
+{"uid":"1834699314714212165","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the cup 2- adjust the stand 3- adjust the cup 4- open the jar lid 5- adjust the glass\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:planning:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some Q: immediate next step? \u003cPRED\u003eA: adjust the cup\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar Q: immediate next step? \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","video":"11580442157234664686.mp4"}
+{"uid":"10929976092433953791","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"8155539249120711228.mp4"}
+{"uid":"4675870332206616732","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":"15082789979047738616.mp4"}
+{"uid":"8305902364084733464","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the brown 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 packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown 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 brown packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the tray 2- Put the brown packet in the tray 3- Put the orange packet in the tray 4- Put the orange packet in the tray 5- Put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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":"68730902001067324.mp4"}
+{"uid":"12368637189354789514","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candies in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand 6- adjust the cup 7- open the jar lid 8- adjust the glass 9- pick up the scoop 10- put the candies in the glass Q: immediate next step? \u003cPRED\u003eA: put the candies in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand 6- adjust the cup 7- open the jar lid 8- adjust the glass 9- pick up the scoop 10- put the candies in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the candies in the glass 2- put the candies in the glass 3- put scoop in the stand 4- put glass on the table 5- close the jar with lid\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some Q: immediate next step? \u003cPRED\u003eA: put the candies in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candies in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candies in the glass\n\u003c/PRED\u003e","video":"2905854222018287302.mp4"}
+{"uid":"9385181950329339963","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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: Please place the chips into the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the tray. last 20 steps: 1- Put the brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the tray 2- Put the orange packet in the tray 3- Put the orange packet in the tray 4- Put the orange packet in the tray 5- Put the 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 the brown 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 packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the tray. last 20 steps: 1- Put the brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e","video":"13844505097020312515.mp4"}
+{"uid":"1518190503396389187","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put scoop in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand 6- adjust the cup 7- open the jar lid 8- adjust the glass 9- pick up the scoop 10- put the candies in the glass 11- put the candies in the glass 12- put the candies in the glass Q: immediate next step? \u003cPRED\u003eA: put scoop in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput scoop in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand 6- adjust the cup 7- open the jar lid 8- adjust the glass 9- pick up the scoop 10- put the candies in the glass 11- put the candies in the glass 12- put the candies in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put scoop in the stand 2- put glass on the table 3- close the jar with lid 4- exit the room with glass 5- put the glass on the black table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some Q: immediate next step? \u003cPRED\u003eA: put scoop in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put scoop in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput scoop in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18310303438627991268.mp4"}
+{"uid":"1853417436940689973","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the tray. last 20 steps: 1- Put the brown packet in the tray 2- Put the brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet in the tray 2- Put the orange packet in the tray 3- Put the orange packet in the tray 4- Put the brown packet in the tray 5- Arrange the packets\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the tray. last 20 steps: 1- Put the brown packet in the tray 2- Put the brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16571008070868562810.mp4"}
+{"uid":"2778479086859345775","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand 6- adjust the cup 7- open the jar lid 8- adjust the glass 9- pick up the scoop 10- put the candies in the glass 11- put the candies in the glass 12- put the candies in the glass 13- put scoop in the stand 14- put glass on the table 15- close the jar with lid 16- exit the room with glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the glass on the black table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the glass on the black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the glass on the black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the glass on the black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the glass on the black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some Q: immediate next step? \u003cPRED\u003eA: put the glass on the black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand 6- adjust the cup 7- open the jar lid 8- adjust the glass 9- pick up the scoop 10- put the candies in the glass 11- put the candies in the glass 12- put the candies in the glass 13- put scoop in the stand 14- put glass on the table 15- close the jar with lid 16- exit the room with glass Q: immediate next step? \u003cPRED\u003eA: put the glass on the black table\n\u003c/PRED\u003e","video":"11216963513233437383.mp4"}
+{"uid":"10476542171122127191","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6075768624511191317.mp4"}
+{"uid":"993480549029058809","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the tray. last 20 steps: 1- Put the brown packet in the tray 2- Put the brown packet in the tray 3- Put the orange packet in the tray 4- Put the orange packet in the tray 5- Put the orange packet in the tray 6- Put the brown packet in the tray 7- Arrange the packets 8- Put the orange packet in the tray 9- Put the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the tray. last 20 steps: 1- Put the brown packet in the tray 2- Put the brown packet in the tray 3- Put the orange packet in the tray 4- Put the orange packet in the tray 5- Put the orange packet in the tray 6- Put the brown packet in the tray 7- Arrange the packets 8- Put the orange packet in the tray 9- Put the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown packet in the tray 2- Put the brown packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e","video":"17547119470336428658.mp4"}
+{"uid":"5435855799681318537","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the jar lid\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the jar lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7313419800941584364.mp4"}
+{"uid":"6982829281886344870","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":"3854033862586492690.mp4"}
+{"uid":"12824731094254093092","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup Q: immediate next step? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the stand 2- adjust the cup 3- open the jar lid 4- adjust the glass 5- pick up the scoop\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nadjust the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nadjust the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some Q: immediate next step? \u003cPRED\u003eA: adjust the stand\n\u003c/PRED\u003e","video":"46269362998023214.mp4"}
+{"uid":"9219184297835730461","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand Q: immediate next step? \u003cPRED\u003eA: adjust the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some Q: immediate next step? \u003cPRED\u003eA: adjust the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand Q: next 5 steps? \u003cPRED\u003eA: 1- adjust the cup 2- open the jar lid 3- adjust the glass 4- pick up the scoop 5- put the candies in the glass\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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: adjust the cup\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":"2427630633578737953.mp4"}
+{"uid":"15584894271109788386","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candies in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the candies 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":"2876411791270005399.mp4"}
+{"uid":"7884539941649828166","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":"3618330323807121549.mp4"}
+{"uid":"6020031230221586632","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"1957698988945823508.mp4"}
+{"uid":"6948032556231557562","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand 6- adjust the cup 7- open the jar lid 8- adjust the glass 9- pick up the scoop 10- put the candies in the glass 11- put the candies in the glass Q: immediate next step? \u003cPRED\u003eA: put the candies in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candies in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candies in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some Q: immediate next step? \u003cPRED\u003eA: put the candies in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candies in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand 6- adjust the cup 7- open the jar lid 8- adjust the glass 9- pick up the scoop 10- put the candies in the glass 11- put the candies in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the candies in the glass 2- put scoop in the stand 3- put glass on the table 4- close the jar with lid 5- exit the room with glass\n\u003c/PRED\u003e","video":"7116012223700549212.mp4"}
+{"uid":"15363075199461843147","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a pink 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":"11149414034711191371.mp4"}
+{"uid":"11517268734217785631","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the tray. last 20 steps: 1- Put the brown packet in the tray 2- Put the brown packet in the tray 3- Put the orange packet in the tray 4- Put the orange packet in the tray 5- Put the orange packet in the tray 6- Put the brown packet in the tray 7- Arrange the packets Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet in the tray 2- Put the orange packet in the tray 3- Put the brown packet in the tray 4- Put the brown packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the tray. last 20 steps: 1- Put the brown packet in the tray 2- Put the brown packet in the tray 3- Put the orange packet in the tray 4- Put the orange packet in the tray 5- Put the orange packet in the tray 6- Put the brown packet in the tray 7- Arrange the packets Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange packet in the tray\n\u003c/PRED\u003e","video":"15421327965276826489.mp4"}
+{"uid":"1405882958650846767","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the 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":"9254509070092089994.mp4"}
+{"uid":"1099297378881769856","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the 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":"12829776828443060966.mp4"}
+{"uid":"2512497667015630363","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":"16338606412316480178.mp4"}
+{"uid":"10669075116145269183","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":"3299457361391844615.mp4"}
+{"uid":"12386464872806730124","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14026180646352755264.mp4"}
+{"uid":"12171738934984417360","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10625231126478564148.mp4"}
+{"uid":"11782727666502264099","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7222663545241750976.mp4"}
+{"uid":"2566417006583645929","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:planning:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some Q: immediate next step? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand 6- adjust the cup 7- open the jar lid 8- adjust the glass 9- pick up the scoop 10- put the candies in the glass 11- put the candies in the glass 12- put the candies in the glass 13- put scoop in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put glass on the table 2- close the jar with lid 3- exit the room with glass 4- put the glass on the black table 5- done\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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Alex would like some Wild Ginger Harvest snacks, please bring him some. last 20 steps: 1- put the cup in the self 2- adjust the cup 3- adjust the jar 4- adjust the cup 5- adjust the stand 6- adjust the cup 7- open the jar lid 8- adjust the glass 9- pick up the scoop 10- put the candies in the glass 11- put the candies in the glass 12- put the candies in the glass 13- put scoop in the stand Q: immediate next step? \u003cPRED\u003eA: put glass on the table\n\u003c/PRED\u003e","video":"15137365273934945021.mp4"}
+{"uid":"5637880103370293099","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":"14163031010315348757.mp4"}
+{"uid":"1288447499214583431","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"12636168016671275967.mp4"}
+{"uid":"560887469438608862","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen Q: immediate next step? \u003cPRED\u003eA: Pickup a blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPickup a blue pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pickup a blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen Q: next 5 steps? \u003cPRED\u003eA: 1- Pickup a blue pen from the pen holder 2- Place a blue pen into the pen holder to the right 3- Move towards the left blue pen 4- Grasp the left blue pen from the pen holder 5- Pickup the left blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: Pickup a blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPickup a blue pen from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pickup a blue pen from the pen holder\n\u003c/PRED\u003e","video":"7327207677171381369.mp4"}
+{"uid":"12766839120192869762","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: Move towards the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move towards the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the pen holder\n\u003c/PRED\u003e","video":"1583256380877784908.mp4"}
+{"uid":"3981361058716841963","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11914314586710817014.mp4"}
+{"uid":"7999361745483551972","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move towards the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: Move towards the pen holder\n\u003c/PRED\u003e","video":"10419637711791537300.mp4"}
+{"uid":"6139774983768330743","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: Move towards the left blue pens\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the left blue pens 2- Grab a blue pen 3- Pickup a blue pen from the pen holder 4- Place a blue pen into the pen holder to the right 5- Move towards the left blue pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the left blue pens Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left Q: immediate next step? \u003cPRED\u003eA: Move towards the left blue pens\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the left blue pens\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the left blue pens\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the left blue pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9292944098500561626.mp4"}
+{"uid":"17436279298228163941","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4991763261832332966.mp4"}
+{"uid":"2089591573145327806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack plate 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":"14983674209317621229.mp4"}
+{"uid":"10957480693223334040","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the cane 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":"4617096445501135809.mp4"}
+{"uid":"5420149758386906156","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the pen holder 2- Move to the pen holder 3- Grab a blue pen 4- Pickup a blue pen from the pen holder 5- Place a blue pen into the pen holder to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: Move away from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left Q: immediate next step? \u003cPRED\u003eA: Move away from the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11645011493753240298.mp4"}
+{"uid":"15801665224510361655","text":"\u003ctask:success:discrete:True\u003e\nmove away from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move away from the pen holder\n\u003c/PRED\u003e","video":"17836672465076384237.mp4"}
+{"uid":"12401087712513669910","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":"2791524474632786935.mp4"}
+{"uid":"8700840143615377909","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"18373864041329178143.mp4"}
+{"uid":"4179066063167315006","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"221865952802329274.mp4"}
+{"uid":"1908304514675276195","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen 7- Pickup a blue pen from the pen holder 8- Place a blue pen into the pen holder to the right 9- Move towards the left blue pen 10- Grasp the left blue pen from the pen holder 11- Pickup the left blue pen from the pen holder 12- drop the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen 7- Pickup a blue pen from the pen holder 8- Place a blue pen into the pen holder to the right 9- Move towards the left blue pen 10- Grasp the left blue pen from the pen holder 11- Pickup the left blue pen from the pen holder 12- drop the pen into 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: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16219253549244038377.mp4"}
+{"uid":"5649350333712159105","text":"\u003ctask:success:discrete:False\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen 7- Pickup a blue pen from the pen holder 8- Place a blue pen into the pen holder to the right 9- Move towards the left blue pen 10- Grasp the left blue pen from the pen holder 11- Pickup the left blue pen from the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen 7- Pickup a blue pen from the pen holder 8- Place a blue pen into the pen holder to the right 9- Move towards the left blue pen 10- Grasp the left blue pen from the pen holder 11- Pickup the left blue pen from the pen holder Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16366722289867409955.mp4"}
+{"uid":"6005910349469155808","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: Grab a blue pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder Q: immediate next step? \u003cPRED\u003eA: Grab a blue pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab a blue pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Grab a blue pen 2- Pickup a blue pen from the pen holder 3- Place a blue pen into the pen holder to the right 4- Move towards the left blue pen 5- Grasp the left blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab a blue pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab a blue pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab a blue pen\n\u003c/PRED\u003e","video":"981611523512373703.mp4"}
+{"uid":"15852109619984436330","text":"\u003ctask:success:discrete:True\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e","video":"17565609703552580902.mp4"}
+{"uid":"15189373696891732104","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":"16851660603834752620.mp4"}
+{"uid":"12795065050105809590","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut a 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":"5586226857804127357.mp4"}
+{"uid":"4275894919024276384","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick a pen from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick a pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18091282665612931847.mp4"}
+{"uid":"17764783906766478902","text":"\u003ctask:success:discrete:True\u003e\nPick a pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick a pen from the pen holder\n\u003c/PRED\u003e","video":"7688345939733981285.mp4"}
+{"uid":"4744995997382205963","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the left blue pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the left blue pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen 7- Pickup a blue pen from the pen holder 8- Place a blue pen into the pen holder to the right Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the left blue pen 2- Grasp the left blue pen from the pen holder 3- Pickup the left blue pen from the pen holder 4- drop the pen into the pen holder 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the left blue pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen 7- Pickup a blue pen from the pen holder 8- Place a blue pen into the pen holder to the right Q: immediate next step? \u003cPRED\u003eA: Move towards the left blue pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: Move towards the left blue pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the left blue pen\n\u003c/PRED\u003e","video":"8179111243887958315.mp4"}
+{"uid":"1401854252069404171","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: move away from the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the pen holder 2- Grab a blue pen 3- Pickup a blue pen from the pen holder 4- Place a blue pen into the pen holder to the right 5- Move towards the left blue pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left Q: immediate next step? \u003cPRED\u003eA: move away from the pen holder\n\u003c/PRED\u003e","video":"18385065276771880384.mp4"}
+{"uid":"13405081995837789305","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput duster 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":"13928872362664861257.mp4"}
+{"uid":"13712457552090181794","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the pen holder 2- Grasp the left blue pen from the pen holder 3- Pickup the left blue pen from the pen holder 4- drop the pen into the pen holder 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13205400415885342539.mp4"}
+{"uid":"16323556432957049399","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the toy carrot 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":"6710020251913203834.mp4"}
+{"uid":"7326568554033043984","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTake the trash to the trash 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":"11205599767782110803.mp4"}
+{"uid":"10136774548284120393","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nLift a pen 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:success:discrete:False\u003e\nLift a pen 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Lift a pen from the holder 2- Place a blue pen into the pen holder to the right 3- Move towards the left blue pen 4- Grasp the left blue pen from the pen holder 5- Pickup the left blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: Lift a pen from the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift a pen from the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder Q: immediate next step? \u003cPRED\u003eA: Lift a pen from the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift a pen from the holder\n\u003c/PRED\u003e","video":"10551283028623545942.mp4"}
+{"uid":"13722110217206132314","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: 1- place holder on the black mat 2- place bottle on the black mat Q: immediate next step? \u003cPRED\u003eA: place bottle on the black mat\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat Q: immediate next step? \u003cPRED\u003eA: place bottle on the black mat\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace bottle on the black mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place bottle on the black mat\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place bottle on the black mat\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: 1- place holder on the black mat 2- place bottle on the black mat Q: next 5 steps? \u003cPRED\u003eA: 1- place bottle on the black mat 2- place bottle on the black mat 3- place bottle on the black mat 4- place honey bottle on the black mat 5- done\n\u003c/PRED\u003e","video":"17952489367490169607.mp4"}
+{"uid":"6250053938930627158","text":"\u003ctask:success:discrete:True\u003e\npick the pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the pen from the pen holder\n\u003c/PRED\u003e","video":"1655919293510503001.mp4"}
+{"uid":"3298700579962218746","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the toffy 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":"17446137404213361136.mp4"}
+{"uid":"924040846978145616","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the pen from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: pick the pen from the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pen from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pen from the pen holder 2- Move away from the pen holder 3- Move to the pen holder 4- Grab a blue pen 5- Pickup a blue pen from the pen holder\n\u003c/PRED\u003e\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\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the pen from the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the pen from the pen holder\n\u003c/PRED\u003e","video":"1249800560692327150.mp4"}
+{"uid":"3762238974080645418","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the left blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrasp the left blue pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16576761815615990166.mp4"}
+{"uid":"3362999400855818819","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the pen from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8324447628007584180.mp4"}
+{"uid":"13397619351045303327","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the blue packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7738495583223405893.mp4"}
+{"uid":"17240069670341895049","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15701490591894963564.mp4"}
+{"uid":"8395342314719678069","text":"\u003ctask:success:discrete:True\u003e\nMove towards the left blue pens Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 left blue pens\n\u003c/PRED\u003e","video":"1031918008875839795.mp4"}
+{"uid":"2145468567250366506","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the orange 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":"9704047829226568002.mp4"}
+{"uid":"4669344102720618012","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder Q: immediate next step? \u003cPRED\u003eA: move to the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- move to the pen holder 2- Pickup a blue pen from the pen holder 3- Place a blue pen into the pen holder to the right 4- Move towards the left blue pen 5- Grasp the left blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: move to the pen holder\n\u003c/PRED\u003e","video":"11031733730029335797.mp4"}
+{"uid":"17055459399663554465","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen 7- Pickup a blue pen from the pen holder 8- Place a blue pen into the pen holder to the right 9- Move towards the left blue pen 10- Grasp the left blue pen from the pen holder 11- Pickup the left blue pen from the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the left blue pen into the holder to the right 2- done\n\u003c/PRED\u003e\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\u003ctask:success:discrete:False\u003e\nPlace the left blue pen into the holder 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\nPlace the left blue pen into the holder to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the left blue pen into the holder to the right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the left blue pen into the holder to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen 7- Pickup a blue pen from the pen holder 8- Place a blue pen into the pen holder to the right 9- Move towards the left blue pen 10- Grasp the left blue pen from the pen holder 11- Pickup the left blue pen from the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the left blue pen into the holder to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: Place the left blue pen into the holder to the right\n\u003c/PRED\u003e","video":"9963040045738019122.mp4"}
+{"uid":"675691304159516308","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12209171997287236885.mp4"}
+{"uid":"5021947277472050840","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the toy red chilli into 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":"16273691352825179343.mp4"}
+{"uid":"989870715691870247","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen 7- Pickup a blue pen from the pen holder 8- Place a blue pen into the pen holder to the right 9- Move towards the left blue pen 10- Grasp the left blue pen from the pen holder 11- Pickup the left blue pen from the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen 7- Pickup a blue pen from the pen holder 8- Place a blue pen into the pen holder to the right 9- Move towards the left blue pen 10- Grasp the left blue pen from the pen holder 11- Pickup the left blue pen from the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pen into the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: Place the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pen into the pen holder\n\u003c/PRED\u003e","video":"3646933701379650269.mp4"}
+{"uid":"5091490966447401835","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick a pen from the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: Pick a pen from the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick a pen from the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick a pen from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick a pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick a pen from the pen holder 2- Move away from the pen holder 3- Move to the pen holder 4- Grab a blue pen 5- Pickup a blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick a pen from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16008866769686239159.mp4"}
+{"uid":"2000320930894751549","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the pen from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10047939387219031681.mp4"}
+{"uid":"707895308911333201","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPickup the right black pen from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder Q: immediate next step? \u003cPRED\u003eA: Pickup the right black pen from the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: Pickup the right black pen from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPickup the right black pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pickup the right black pen from the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pickup the right black pen from the pen holder 2- Drop the right black pen into the pen holder to the left 3- Move away from the pen holder 4- Move to the pen holder 5- Grab a blue pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pickup the right black pen from the pen holder\n\u003c/PRED\u003e","video":"1294200815366159229.mp4"}
+{"uid":"1624449668544624265","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":"285256063017404314.mp4"}
+{"uid":"805151062131208869","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen 7- Pickup a blue pen from the pen holder 8- Place a blue pen into the pen holder to the right 9- Move towards the left blue pen 10- Grasp the left blue pen from the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pickup the left blue pen from the pen holder 2- drop the pen into the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pickup the left blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPickup the left blue pen from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: Pickup the left blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen 7- Pickup a blue pen from the pen holder 8- Place a blue pen into the pen holder to the right 9- Move towards the left blue pen 10- Grasp the left blue pen from the pen holder Q: immediate next step? \u003cPRED\u003eA: Pickup the left blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPickup the left blue pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pickup the left blue pen from the pen holder\n\u003c/PRED\u003e","video":"4775829480731498298.mp4"}
+{"uid":"13931422310987976616","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cap 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":"769992529211044880.mp4"}
+{"uid":"440256871931035401","text":"\u003ctask:success:discrete:True\u003e\nDrop the right black pen into the pen holder 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: Drop the right black pen into the pen holder to the left\n\u003c/PRED\u003e","video":"9255078200968628196.mp4"}
+{"uid":"14405806438752712320","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the orange 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":"15515929915978829775.mp4"}
+{"uid":"14245609987325328486","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: move towards the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move towards the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5148377657504711703.mp4"}
+{"uid":"12343987896087218035","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place honey bottle on the black mat\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace honey bottle on the black mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: 1- place holder on the black mat 2- place bottle on the black mat 3- place bottle on the black mat 4- place bottle on the black mat 5- place bottle on the black mat 6- place honey bottle on the black mat Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: 1- place holder on the black mat 2- place bottle on the black mat 3- place bottle on the black mat 4- place bottle on the black mat 5- place bottle on the black mat 6- place honey bottle on the black mat Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15337030121807278701.mp4"}
+{"uid":"17201555649401633628","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen 7- Pickup a blue pen from the pen holder 8- Place a blue pen into the pen holder to the right 9- Move towards the left blue pen 10- Grasp the left blue pen from the pen holder 11- Pickup the left blue pen from the pen holder 12- Place the pen into the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen 7- Pickup a blue pen from the pen holder 8- Place a blue pen into the pen holder to the right 9- Move towards the left blue pen 10- Grasp the left blue pen from the pen holder 11- Pickup the left blue pen from the pen holder 12- Place the pen into the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11207289359790613600.mp4"}
+{"uid":"519062983264926917","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":"17051377999383770817.mp4"}
+{"uid":"1158113316120725903","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place bottle on the black mat\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: 1- place holder on the black mat 2- place bottle on the black mat 3- place bottle on the black mat Q: next 5 steps? \u003cPRED\u003eA: 1- place bottle on the black mat 2- place bottle on the black mat 3- place honey bottle on the black mat 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: 1- place holder on the black mat 2- place bottle on the black mat 3- place bottle on the black mat Q: immediate next step? \u003cPRED\u003eA: place bottle on the black mat\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace bottle on the black mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place bottle on the black mat\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace bottle on the black mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat Q: immediate next step? \u003cPRED\u003eA: place bottle on the black mat\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place bottle on the black mat\n\u003c/PRED\u003e","video":"9634253834986416182.mp4"}
+{"uid":"15056343537533501419","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the pen holder 2- Move away from the pen holder 3- Move to the pen holder 4- Grab a blue pen 5- Pickup a blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13193811342704303197.mp4"}
+{"uid":"3148937812046354200","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":"18113738691984363773.mp4"}
+{"uid":"2601042975717000225","text":"\u003ctask:success:discrete:False\u003e\nPick a pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick a pen from the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: Pick a pen from the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick a pen from the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick a pen from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen 7- Pickup a blue pen from the pen holder 8- Place a blue pen into the pen holder to the right 9- Move towards the left blue pen Q: next 5 steps? \u003cPRED\u003eA: 1- Pick a pen from the pen holder 2- drop the pen into the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen 7- Pickup a blue pen from the pen holder 8- Place a blue pen into the pen holder to the right 9- Move towards the left blue pen Q: immediate next step? \u003cPRED\u003eA: Pick a pen from the pen holder\n\u003c/PRED\u003e","video":"10085296447022717593.mp4"}
+{"uid":"13054848258686931229","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the chair towards the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17710701659759006627.mp4"}
+{"uid":"12967832140646857445","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a blue pen into the pen holder to the right\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen 7- Pickup a blue pen from the pen holder Q: immediate next step? \u003cPRED\u003eA: Place a blue pen into the pen holder to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen 7- Pickup a blue pen from the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place a blue pen into the pen holder to the right 2- Move towards the left blue pen 3- Grasp the left blue pen from the pen holder 4- Pickup the left blue pen from the pen holder 5- drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a blue pen into the pen holder to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace a blue pen into the pen holder 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: Place a blue pen into the pen holder to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: Place a blue pen into the pen holder to the right\n\u003c/PRED\u003e","video":"6189594958454961204.mp4"}
+{"uid":"3168555630707794067","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses on the top of 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":"5329423619859335484.mp4"}
+{"uid":"7359381787323086828","text":"\u003ctask:success:discrete:True\u003e\nMove away from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move away from the pen holder\n\u003c/PRED\u003e","video":"11400276407907106912.mp4"}
+{"uid":"7980554980253501801","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1353445889678751919.mp4"}
+{"uid":"13932066081171031890","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the seaweed snacks packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16873204352427708765.mp4"}
+{"uid":"4688376418519697511","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":"7012179820370060018.mp4"}
+{"uid":"2394534910850658570","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder Q: immediate next step? \u003cPRED\u003eA: Move to the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: Move to the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the pen holder 2- Grab a blue pen 3- Pickup a blue pen from the pen holder 4- Place a blue pen into the pen holder to the right 5- Move towards the left blue pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3264236419211731971.mp4"}
+{"uid":"436886432198148350","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the left blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen 7- Pickup a blue pen from the pen holder 8- Place a blue pen into the pen holder to the right 9- Move towards the left blue pen Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the left blue pen from the pen holder 2- Pickup the left blue pen from the pen holder 3- drop the pen into the pen holder 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the left blue pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the left blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen 7- Pickup a blue pen from the pen holder 8- Place a blue pen into the pen holder to the right 9- Move towards the left blue pen Q: immediate next step? \u003cPRED\u003eA: Grasp the left blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: Grasp the left blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the left blue pen from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15991213296333141982.mp4"}
+{"uid":"5985801274187480785","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2945694434782201811.mp4"}
+{"uid":"17404516200602139150","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the right black pen into the pen holder to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the right black pen into the pen holder 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: sort pens Q: immediate next step? \u003cPRED\u003eA: Drop the right black pen into the pen holder to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the right black pen into the pen holder to the left Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the right black pen into the pen holder to the left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder Q: immediate next step? \u003cPRED\u003eA: Drop the right black pen into the pen holder to the left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the right black pen into the pen holder to the left 2- Move away from the pen holder 3- Move to the pen holder 4- Grab a blue pen 5- Pickup a blue pen from the pen holder\n\u003c/PRED\u003e","video":"9114105831292482627.mp4"}
+{"uid":"570094080981026835","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pen from the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the pen from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pen from the pen holder 2- Place a blue pen into the pen holder to the right 3- Move towards the left blue pen 4- Grasp the left blue pen from the pen holder 5- Pickup the left blue pen from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: pick the pen from the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder Q: immediate next step? \u003cPRED\u003eA: pick the pen from the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the pen from the pen holder\n\u003c/PRED\u003e","video":"9427357794076174433.mp4"}
+{"uid":"5335256142594551390","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Lift a pen from the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nLift a pen 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":"16630227274510421854.mp4"}
+{"uid":"15323682307471050170","text":"\u003ctask:success:discrete:False\u003e\nplace honey bottle on the black mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat Q: immediate next step? \u003cPRED\u003eA: place honey bottle on the black mat\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place honey bottle on the black mat\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: 1- place holder on the black mat 2- place bottle on the black mat 3- place bottle on the black mat 4- place bottle on the black mat 5- place bottle on the black mat Q: next 5 steps? \u003cPRED\u003eA: 1- place honey bottle on the black mat 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: 1- place holder on the black mat 2- place bottle on the black mat 3- place bottle on the black mat 4- place bottle on the black mat 5- place bottle on the black mat Q: immediate next step? \u003cPRED\u003eA: place honey bottle on the black mat\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place honey bottle on the black mat\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace honey bottle on the black mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15488081083192140933.mp4"}
+{"uid":"4251063673378925532","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":"5147816747221993035.mp4"}
+{"uid":"5184958936575249306","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the pen from the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the pen from the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: pick the pen from the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the pen from the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen 7- Pickup a blue pen from the pen holder 8- Place a blue pen into the pen holder to the right 9- Move towards the left blue pen Q: immediate next step? \u003cPRED\u003eA: pick the pen from the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder 3- Drop the right black pen into the pen holder to the left 4- Move away from the pen holder 5- Move to the pen holder 6- Grab a blue pen 7- Pickup a blue pen from the pen holder 8- Place a blue pen into the pen holder to the right 9- Move towards the left blue pen Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pen from the pen holder 2- drop the pen into the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pen from the pen holder\n\u003c/PRED\u003e","video":"11779316693742165304.mp4"}
+{"uid":"273961803089806235","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9499713212950764678.mp4"}
+{"uid":"16644974039641850587","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chocolate bar in the small bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6741686150187166363.mp4"}
+{"uid":"11687705313425087906","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":"6938657497083780150.mp4"}
+{"uid":"11693097504365553757","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace holder on the black mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 holder on the black mat\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place holder on the black mat\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place holder on the black mat 2- place bottle on the black mat 3- place bottle on the black mat 4- place bottle on the black mat 5- place bottle on the black mat\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place holder on the black mat\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace holder on the black mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat Q: immediate next step? \u003cPRED\u003eA: place holder on the black mat\n\u003c/PRED\u003e","video":"4205609441200025494.mp4"}
+{"uid":"6685984026785809403","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace bottle on the black mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: 1- place holder on the black mat Q: immediate next step? \u003cPRED\u003eA: place bottle on the black mat\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place holder on the black mat\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place bottle on the black mat\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace holder on the black mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: 1- place holder on the black mat Q: next 5 steps? \u003cPRED\u003eA: 1- place bottle on the black mat 2- place bottle on the black mat 3- place bottle on the black mat 4- place bottle on the black mat 5- place honey bottle on the black mat\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat Q: immediate next step? \u003cPRED\u003eA: place bottle on the black mat\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place bottle on the black mat\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace bottle on the black mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1959116509166386368.mp4"}
+{"uid":"15931374399944779572","text":"\u003ctask:success:discrete:False\u003e\nDrop the pen into the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: sort pens Q: immediate next step? \u003cPRED\u003eA: Drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder Q: immediate next step? \u003cPRED\u003eA: Drop the pen into the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: sort pens. last 20 steps: 1- Move towards the pen holder 2- Pickup the right black pen from the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pen into the pen holder 2- Move away from the pen holder 3- Move to the pen holder 4- Grab a blue pen 5- Pickup a blue pen from the pen 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 pen holder\n\u003c/PRED\u003e","video":"1018505334093010259.mp4"}
+{"uid":"522104193265463799","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen holder on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11867290374111063616.mp4"}
+{"uid":"6544715074972111147","text":"\u003ctask:success:discrete:True\u003e\nplace bottle on the black mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 bottle on the black mat\n\u003c/PRED\u003e","video":"43450538665110240.mp4"}
+{"uid":"1099619430506658324","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat Q: immediate next step? \u003cPRED\u003eA: place bottle on the black mat\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place bottle on the black mat\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place bottle on the black mat\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace bottle on the black mat Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\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 bottle on the black mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: 1- place holder on the black mat 2- place bottle on the black mat 3- place bottle on the black mat 4- place bottle on the black mat Q: immediate next step? \u003cPRED\u003eA: place bottle on the black mat\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place bottle on the black mat\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: 1- place holder on the black mat 2- place bottle on the black mat 3- place bottle on the black mat 4- place bottle on the black mat Q: next 5 steps? \u003cPRED\u003eA: 1- place bottle on the black mat 2- place honey bottle on the black mat 3- done\n\u003c/PRED\u003e","video":"17060068144623581372.mp4"}
+{"uid":"13710992334438817535","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table 5- drop the can on a table 6- drop the can on a table 7- drop the can on a table 8- drop the can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table 5- drop the can on a table 6- drop the can on a table 7- drop the can on a table 8- drop the can on a table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the can on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9346290603329920305.mp4"}
+{"uid":"14863347041478546193","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5014506950670093807.mp4"}
+{"uid":"15447293555248643300","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the numi box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9013042058628717265.mp4"}
+{"uid":"10326478863147990689","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the can on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table 5- drop the can on a table 6- drop the can on a table 7- drop the can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the can on a table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table 5- drop the can on a table 6- drop the can on a table 7- drop the can on a table Q: immediate next step? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e","video":"3699746567312122849.mp4"}
+{"uid":"1451096086800071882","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table 5- drop the can on a table 6- drop the can on a table 7- drop the can on a table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull 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 redbull can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table 5- drop the can on a table 6- drop the can on a table 7- drop the can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- done\n\u003c/PRED\u003e","video":"3267490003505968611.mp4"}
+{"uid":"2087869876700720406","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull 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 redbull can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table 5- drop the can on a table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e","video":"1171959396672398542.mp4"}
+{"uid":"9656698886456067165","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the can on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table 5- drop the can on a table 6- drop the can on a table Q: immediate next step? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table 5- drop the can on a table 6- drop the can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the can on a table 2- drop the can on a table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e","video":"3486672784433494152.mp4"}
+{"uid":"15982485466690189832","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":"3028047165593497085.mp4"}
+{"uid":"95516956706945746","text":"\u003ctask:success:discrete:True\u003e\ndrop the can on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 can on a table\n\u003c/PRED\u003e","video":"16379684966141592991.mp4"}
+{"uid":"12965279940128115729","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":"9239363228487079623.mp4"}
+{"uid":"17833370703565169688","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a white packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6928367752258267718.mp4"}
+{"uid":"12327380772174146109","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the can on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the can on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 red bull from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table 5- drop the can on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e","video":"3815746205234808719.mp4"}
+{"uid":"13282856267968071369","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the fruit in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6688023867387513708.mp4"}
+{"uid":"5411235949223287925","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink 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":"16177014981211873061.mp4"}
+{"uid":"8634177937729064562","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2320584467721986823.mp4"}
+{"uid":"11551346137204770794","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- place the red bull can on the table 2- drop the can on a table 3- drop the can on a table 4- drop the can on a table 5- drop the can on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red bull 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 red bull can on the table\n\u003c/PRED\u003e","video":"2830038508728839983.mp4"}
+{"uid":"16228350467357349724","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar packet 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":"2516367308252391254.mp4"}
+{"uid":"9885833263010110885","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12932026820184436858.mp4"}
+{"uid":"109245065155737386","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- drop the can on a table 3- place the red bull can on the table 4- drop the can on a table 5- drop the can on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e","video":"17759228645398342980.mp4"}
+{"uid":"3347563125603746058","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo outside 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":"14925505301471782793.mp4"}
+{"uid":"13133980871091883351","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":"858595890075986998.mp4"}
+{"uid":"1160596409465668428","text":"\u003ctask:success:discrete:True\u003e\ndrop the can on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 can on a table\n\u003c/PRED\u003e","video":"15621715491756531933.mp4"}
+{"uid":"7238990624472788718","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the red bull can on the table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table 5- drop the can on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the red bull 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 red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5319913504612861845.mp4"}
+{"uid":"9899981731548707638","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":"10777540075430455565.mp4"}
+{"uid":"12983950911547559543","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table 5- drop the can on a table 6- drop the can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- place the red bull can on the table 2- drop the can on a table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red bull 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 red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table 5- drop the can on a table 6- drop the can on a table Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e","video":"4899667585178368730.mp4"}
+{"uid":"4034053055027777292","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table 5- drop the can on a table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table 5- drop the can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- drop the can on a table 3- drop the can on a table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e","video":"14746658340771930244.mp4"}
+{"uid":"7166700089647396867","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace that 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":"10011455522564311572.mp4"}
+{"uid":"12529483671039835276","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":"9578876536318153476.mp4"}
+{"uid":"18251107025441775544","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the red bull can on the table 2- place the red bull can on the table 3- drop the can on a table 4- drop the can on a table 5- drop the can on a table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red bull 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 red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red bull 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":"7730418070535902618.mp4"}
+{"uid":"12700664932120384180","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- place the red bull can on the table 3- drop the can on a table 4- drop the can on a table 5- drop the can on a table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e","video":"3206032977467618636.mp4"}
+{"uid":"4763595675732182210","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the can on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14440910558774687174.mp4"}
+{"uid":"276453592003082634","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table Q: immediate next step? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the can on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 red bull from the tray. last 20 steps: 1- drop the can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the can on a table 2- drop the can on a table 3- place the red bull can on the table 4- drop the can on a table 5- drop the can on a table\n\u003c/PRED\u003e","video":"14817576050471817126.mp4"}
+{"uid":"3999401915994970554","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the red bull 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 red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table 5- drop the can on a table 6- drop the can on a table 7- drop the can on a table Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table 5- drop the can on a table 6- drop the can on a table 7- drop the can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- place the red bull can on the table 2- done\n\u003c/PRED\u003e","video":"17274469711454739928.mp4"}
+{"uid":"6862853189419827226","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can on table ?\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table ? 2- drop the can on a table 3- drop the can on a table 4- drop the can on a table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table ?\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table ?\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table ? Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull can on table ? Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table ?\n\u003c/PRED\u003e","video":"17653911040235371559.mp4"}
+{"uid":"15431750699487056563","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11728684447489957839.mp4"}
+{"uid":"5576684079917786069","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":"18314477841167538107.mp4"}
+{"uid":"3678628604158916236","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- drop the can on a table 3- drop the can on a table 4- drop the can on a table 5- drop the can on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull 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: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17611987070330385112.mp4"}
+{"uid":"14840633295373836003","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the can on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18256296795658109199.mp4"}
+{"uid":"12061385036422382722","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace an apple 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":"10380205166673230899.mp4"}
+{"uid":"16220107523632288953","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table 5- drop the can on a table 6- drop the can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- drop the can on a table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table 5- drop the can on a table 6- drop the can on a table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1784477977638072926.mp4"}
+{"uid":"15686456846634703819","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5595787589672001458.mp4"}
+{"uid":"13142548988044961977","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14714906151515291217.mp4"}
+{"uid":"12068061961813779007","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the can on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- drop the can on a table 5- drop the can on a table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e","video":"8669484476046440840.mp4"}
+{"uid":"2359398106533427478","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the numi tea bag box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6905474468042487588.mp4"}
+{"uid":"13164810346360264373","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":"12176417496090018776.mp4"}
+{"uid":"9187541540948005576","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the carrier 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":"18214268388460374282.mp4"}
+{"uid":"4158181835671483541","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a blue 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":"7664517598315034849.mp4"}
+{"uid":"14894981012448817316","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":"13028445053581937113.mp4"}
+{"uid":"11428100452234051454","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the can on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the can on a table 2- drop the can on a table 3- drop the can on a table 4- drop the can on a table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the can on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e","video":"11220498146256904530.mp4"}
+{"uid":"9828753068686622864","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table 5- drop the can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- place the red bull can on the table 2- drop the can on a table 3- drop the can on a table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red bull 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 red bull 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 red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table 5- drop the can on a table Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17621764911881693423.mp4"}
+{"uid":"129248580230016558","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11998954728618133929.mp4"}
+{"uid":"2737611900897648891","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table 5- drop the can on a table Q: immediate next step? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the can on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 can on a table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: drop the can on a table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table 5- drop the can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the can on a table 2- drop the can on a table 3- drop the can on a table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the can on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18442010101127735063.mp4"}
+{"uid":"5945644693220600044","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red bull 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 red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table Q: next 5 steps? \u003cPRED\u003eA: 1- place the red bull can on the table 2- drop the can on a table 3- place the red bull can on the table 4- drop the can on a table 5- drop the can on a table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red bull 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":"5559276500432918427.mp4"}
+{"uid":"11766581315006468307","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red bull 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 red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- drop the can on a table 2- place the red bull can on the table 3- drop the can on a table 4- place the red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the red bull can on the table 2- drop the can on a table 3- drop the can on a table 4- drop the can on a table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the red bull can on the table\n\u003c/PRED\u003e","video":"2447473171625260286.mp4"}
+{"uid":"17069100772397343426","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the green marker 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: pick the green marker up\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the green marker up\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the green marker 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: there are markers on the ground please pick them up and put sort them in each cups Q: immediate next step? \u003cPRED\u003eA: pick the green marker up\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup Q: immediate next step? \u003cPRED\u003eA: pick the green marker up\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- pick the green marker up 2- drop the marker in the glass 3- pick up the orange marker 4- put the orange marker into the cup 5- pickup the marker\n\u003c/PRED\u003e","video":"3741248430399739854.mp4"}
+{"uid":"13778263908990349569","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the redbull can 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":"8672865714786637455.mp4"}
+{"uid":"16621354550646349299","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black holder left side in sequence Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14086250104593188561.mp4"}
+{"uid":"11592760398172008900","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14769127716761323707.mp4"}
+{"uid":"1321852363264058002","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4258042194749773719.mp4"}
+{"uid":"1478278692534545790","text":"\u003ctask:success:discrete:True\u003e\npickup the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup the marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the green marker 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the green marker up\n\u003c/PRED\u003e","video":"8217212344522207471.mp4"}
+{"uid":"14857725638167464802","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nenter the room with the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring the sweet treats from the MK to my desk. last 20 steps: 1- pick up the cup 2- exit the room with the cup Q: immediate next step? \u003cPRED\u003eA: enter the room with the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: enter the room with the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring the sweet treats from the MK to my desk. last 20 steps: 1- pick up the cup 2- exit the room with the cup Q: next 5 steps? \u003cPRED\u003eA: 1- enter the room with the cup 2- put the cup on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring the sweet treats from the MK to my desk. Q: immediate next step? \u003cPRED\u003eA: enter the room with the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter the room with the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nenter the room with 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":"6013313256764527407.mp4"}
+{"uid":"2062922908819655769","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":"16051105689509425706.mp4"}
+{"uid":"12228744746525536009","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups Q: immediate next step? \u003cPRED\u003eA: drop the marker in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup 3- pickup the marker Q: immediate next step? \u003cPRED\u003eA: drop the marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup 3- pickup the marker Q: next 5 steps? \u003cPRED\u003eA: 1- drop the marker in the glass 2- pick up the orange marker 3- put the orange marker into the cup 4- pickup the marker 5- put the blue marker into the cup\n\u003c/PRED\u003e","video":"14895026386791247986.mp4"}
+{"uid":"17651564082243182849","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the stand on another table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12202459529528934877.mp4"}
+{"uid":"14969713388404218319","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange marker into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange marker into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange marker into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange marker into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups Q: immediate next step? \u003cPRED\u003eA: put the orange marker into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup 3- pickup the marker 4- drop the marker in the glass 5- pick up the orange marker Q: immediate next step? \u003cPRED\u003eA: put the orange marker into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup 3- pickup the marker 4- drop the marker in the glass 5- pick up the orange marker Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange marker into the cup 2- pickup the marker 3- put the blue marker into the cup 4- done\n\u003c/PRED\u003e","video":"1946697932521239318.mp4"}
+{"uid":"5005142913353278497","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"838562369472061600.mp4"}
+{"uid":"1654270978864493172","text":"\u003ctask:success:discrete:True\u003e\npick up the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e","video":"8674638894366557003.mp4"}
+{"uid":"18176526022836809086","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick 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":"9449931086518106317.mp4"}
+{"uid":"7557480825991076336","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":"4178022015606403469.mp4"}
+{"uid":"14656038760686877415","text":"\u003ctask:success:discrete:True\u003e\nput the black marker into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black marker into the cup\n\u003c/PRED\u003e","video":"8274244839567092547.mp4"}
+{"uid":"1969770893034001754","text":"\u003ctask:success:discrete:True\u003e\ndrop the marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the marker in the glass\n\u003c/PRED\u003e","video":"8726089261062386907.mp4"}
+{"uid":"9597443752873346000","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups Q: immediate next step? \u003cPRED\u003eA: drop the pen in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup 3- pickup the marker 4- drop the marker in the glass 5- pick up the orange marker 6- put the orange marker into the cup 7- pickup the marker Q: immediate next step? \u003cPRED\u003eA: drop the pen in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup 3- pickup the marker 4- drop the marker in the glass 5- pick up the orange marker 6- put the orange marker into the cup 7- pickup the marker Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen in the glass 2- done\n\u003c/PRED\u003e","video":"11684015507342087857.mp4"}
+{"uid":"3814243694639386853","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"14769600423953566142.mp4"}
+{"uid":"4464224572382937993","text":"\u003ctask:success:discrete:True\u003e\nput the orange marker into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange marker into the cup\n\u003c/PRED\u003e","video":"16141734256793074689.mp4"}
+{"uid":"13588490249064044849","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":"6202062048425582694.mp4"}
+{"uid":"6591029875401353556","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16905410315647449374.mp4"}
+{"uid":"8673390244223213711","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups Q: immediate next step? \u003cPRED\u003eA: pickup the marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup 3- pickup the marker 4- drop the marker in the glass Q: immediate next step? \u003cPRED\u003eA: pickup the marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup 3- pickup the marker 4- drop the marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the marker 2- put the orange marker into the cup 3- pickup the marker 4- put the blue marker into the cup 5- done\n\u003c/PRED\u003e","video":"7162313785843703100.mp4"}
+{"uid":"9642633525179535542","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring the sweet treats from the MK to my desk. last 20 steps: 1- pick up the cup 2- exit the room with the cup 3- enter the room with the cup 4- put the cup 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 bring the sweet treats from the MK to my desk. last 20 steps: 1- pick up the cup 2- exit the room with the cup 3- enter the room with the cup 4- put the cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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: put the cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring the sweet treats from the MK to my desk. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17090706719106560763.mp4"}
+{"uid":"1542994255175543385","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":"4309177998383893785.mp4"}
+{"uid":"8193501900593198893","text":"\u003ctask:success:discrete:True\u003e\npickup the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup the marker\n\u003c/PRED\u003e","video":"13793389102627875716.mp4"}
+{"uid":"514069579845505790","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups Q: immediate next step? \u003cPRED\u003eA: pickup the marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pickup the marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the marker 2- put the black marker into the cup 3- pickup the marker 4- drop the marker in the glass 5- pick up the orange marker\n\u003c/PRED\u003e","video":"4121314027898375968.mp4"}
+{"uid":"1553503427393345675","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room with the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring the sweet treats from the MK to my desk. last 20 steps: 1- pick up the cup Q: immediate next step? \u003cPRED\u003eA: exit the room with the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring the sweet treats from the MK to my desk. last 20 steps: 1- pick up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room with the cup 2- enter the room with the cup 3- put the cup on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room with 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: exit the room with the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring the sweet treats from the MK to my desk. Q: immediate next step? \u003cPRED\u003eA: exit the room with the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room with the cup\n\u003c/PRED\u003e","video":"11010048150176550140.mp4"}
+{"uid":"15383624936180398319","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups Q: immediate next step? \u003cPRED\u003eA: pickup the marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup 3- pickup the marker 4- drop the marker in the glass 5- pick up the orange marker 6- put the orange marker into the cup Q: immediate next step? \u003cPRED\u003eA: pickup the marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup 3- pickup the marker 4- drop the marker in the glass 5- pick up the orange marker 6- put the orange marker into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the marker 2- put the blue marker into the cup 3- done\n\u003c/PRED\u003e","video":"14576263105643422991.mp4"}
+{"uid":"1044430249140927730","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue 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":"2712848371909952873.mp4"}
+{"uid":"6698914163331700333","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green marker into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green marker into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green marker into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green marker into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups Q: immediate next step? \u003cPRED\u003eA: put the green marker into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup 3- pickup the marker Q: immediate next step? \u003cPRED\u003eA: put the green marker into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup 3- pickup the marker Q: next 5 steps? \u003cPRED\u003eA: 1- put the green marker into the cup 2- pick up the orange marker 3- put the orange marker into the cup 4- pickup the marker 5- put the blue marker into the cup\n\u003c/PRED\u003e","video":"6098342919267120114.mp4"}
+{"uid":"14698800308525796551","text":"\u003ctask:success:discrete:True\u003e\nenter the room with 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: enter the room with the cup\n\u003c/PRED\u003e","video":"7717192489824961037.mp4"}
+{"uid":"4061324587074406310","text":"\u003ctask:success:discrete:True\u003e\nput the blue marker into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue marker into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup 3- pickup the marker 4- drop the marker in the glass 5- pick up the orange marker 6- put the orange marker into the cup 7- pickup the marker 8- put the blue marker into the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup 3- pickup the marker 4- drop the marker in the glass 5- pick up the orange marker 6- put the orange marker into the cup 7- pickup the marker 8- put the blue marker into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"5013569845257493290.mp4"}
+{"uid":"14788107359663512515","text":"\u003ctask:success:discrete:True\u003e\ndrop the pen in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the pen in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup 3- pickup the marker 4- drop the marker in the glass 5- pick up the orange marker 6- put the orange marker into the cup 7- pickup the marker 8- drop the pen in the glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup 3- pickup the marker 4- drop the marker in the glass 5- pick up the orange marker 6- put the orange marker into the cup 7- pickup the marker 8- drop the pen in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"17415061663773365020.mp4"}
+{"uid":"13537712231139270871","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npickup the marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups Q: immediate next step? \u003cPRED\u003eA: pickup the marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup Q: immediate next step? \u003cPRED\u003eA: pickup the marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the marker 2- drop the marker in the glass 3- pick up the orange marker 4- put the orange marker into the cup 5- pickup the marker\n\u003c/PRED\u003e","video":"17613694847447757590.mp4"}
+{"uid":"1723296067103943345","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink sachet in the top left 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":"13587937411327267677.mp4"}
+{"uid":"14920430565995355618","text":"\u003ctask:success:discrete:True\u003e\npickup the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup the marker\n\u003c/PRED\u003e","video":"4871038207161684798.mp4"}
+{"uid":"15868970765166063618","text":"\u003ctask:success:discrete:True\u003e\npick up the black marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the black marker\n\u003c/PRED\u003e","video":"13829916045719399459.mp4"}
+{"uid":"14773849683714675963","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring the sweet treats from the MK to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please bring the sweet treats from the MK to my desk. Q: immediate next step? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring the sweet treats from the MK to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the cup 2- exit the room with the cup 3- enter the room with the cup 4- put the cup on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3051224843412987541.mp4"}
+{"uid":"2896838166656141411","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace clip in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11452738135560389646.mp4"}
+{"uid":"2440910021457149089","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black marker into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black marker into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black marker into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black marker into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups Q: immediate next step? \u003cPRED\u003eA: put the black marker into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker Q: immediate next step? \u003cPRED\u003eA: put the black marker into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker Q: next 5 steps? \u003cPRED\u003eA: 1- put the black marker into the cup 2- pickup the marker 3- drop the marker in the glass 4- pick up the orange marker 5- put the orange marker into the cup\n\u003c/PRED\u003e","video":"11600557851399162397.mp4"}
+{"uid":"3684369564545242695","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the orange marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the orange marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the orange marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the orange marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups Q: immediate next step? \u003cPRED\u003eA: pick up the orange marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup 3- pickup the marker 4- drop the marker in the glass Q: immediate next step? \u003cPRED\u003eA: pick up the orange marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup 3- pickup the marker 4- drop the marker in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the orange marker 2- put the orange marker into the cup 3- pickup the marker 4- put the blue marker into the cup 5- done\n\u003c/PRED\u003e","video":"6155143340344697071.mp4"}
+{"uid":"15297804388268835542","text":"\u003ctask:success:discrete:True\u003e\npick up the orange marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the orange marker\n\u003c/PRED\u003e","video":"15424308450959885679.mp4"}
+{"uid":"9319381376599917476","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput up the blue marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put up the blue marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put up the blue marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput up the blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups Q: immediate next step? \u003cPRED\u003eA: put up the blue marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup 3- pickup the marker 4- drop the marker in the glass 5- pick up the orange marker 6- put the orange marker into the cup Q: immediate next step? \u003cPRED\u003eA: put up the blue marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup 3- pickup the marker 4- drop the marker in the glass 5- pick up the orange marker 6- put the orange marker into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put up the blue marker 2- put the blue marker into the cup 3- done\n\u003c/PRED\u003e","video":"2319554899021846125.mp4"}
+{"uid":"2090345135167156334","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"8549315058288588773.mp4"}
+{"uid":"14527843122459076154","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the marker in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the marker in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the marker in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups Q: immediate next step? \u003cPRED\u003eA: drop the marker in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup 3- pickup the marker 4- drop the marker in the glass 5- pick up the orange marker Q: immediate next step? \u003cPRED\u003eA: drop the marker in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup 3- pickup the marker 4- drop the marker in the glass 5- pick up the orange marker Q: next 5 steps? \u003cPRED\u003eA: 1- drop the marker in the glass 2- pickup the marker 3- put the blue marker into the cup 4- done\n\u003c/PRED\u003e","video":"8931721779293099708.mp4"}
+{"uid":"4331568525438419566","text":"\u003ctask:success:discrete:True\u003e\npickup the marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pickup the marker\n\u003c/PRED\u003e","video":"1699193407139824127.mp4"}
+{"uid":"6490377643507328901","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the black marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the black marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the black marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the black marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups Q: immediate next step? \u003cPRED\u003eA: pick up the black marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the black marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the black marker 2- put the black marker into the cup 3- pickup the marker 4- drop the marker in the glass 5- pick up the orange marker\n\u003c/PRED\u003e","video":"15081203670642134158.mp4"}
+{"uid":"5966652796630629255","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nThrow the can inside 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":"6800784640809109154.mp4"}
+{"uid":"12020244083035462211","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue marker into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue marker into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue marker into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue marker into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups Q: immediate next step? \u003cPRED\u003eA: put the blue marker into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup 3- pickup the marker 4- drop the marker in the glass 5- pick up the orange marker 6- put the orange marker into the cup 7- pickup the marker Q: immediate next step? \u003cPRED\u003eA: put the blue marker into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: there are markers on the ground please pick them up and put sort them in each cups. last 20 steps: 1- pick up the black marker 2- put the black marker into the cup 3- pickup the marker 4- drop the marker in the glass 5- pick up the orange marker 6- put the orange marker into the cup 7- pickup the marker Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue marker into the cup 2- done\n\u003c/PRED\u003e","video":"12027506698278031545.mp4"}
+{"uid":"48952367540599743","text":"\u003ctask:success:discrete:True\u003e\nput the green marker into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green marker into the cup\n\u003c/PRED\u003e","video":"2221600848649139495.mp4"}
+{"uid":"15395749096852609727","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: Please bring the sweet treats from the MK to my desk. Q: immediate next step? \u003cPRED\u003eA: put the cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring the sweet treats from the MK to my desk. last 20 steps: 1- pick up the cup 2- exit the room with the cup 3- enter the room with the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please bring the sweet treats from the MK to my desk. last 20 steps: 1- pick up the cup 2- exit the room with the cup 3- enter the room with the cup Q: immediate next step? \u003cPRED\u003eA: put the cup on the table\n\u003c/PRED\u003e","video":"18263015196961847218.mp4"}
+{"uid":"1389195739996463634","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7473665268333064291.mp4"}
+{"uid":"16897580486229017068","text":"\u003ctask:success:discrete:True\u003e\ndrop the marker in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the marker in the glass\n\u003c/PRED\u003e","video":"13729919971983487899.mp4"}
+{"uid":"8082634557447962424","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand 4- pick some glasses 5- put plastic glasses in stand 6- pick the glass Q: immediate next step? \u003cPRED\u003eA: place glass in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand 4- pick some glasses 5- put plastic glasses in stand 6- pick the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place glass in the holder 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. Q: immediate next step? \u003cPRED\u003eA: place glass in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place glass in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place glass in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace glass 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 glass 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":"5494336407498481857.mp4"}
+{"uid":"5040717562989579855","text":"\u003ctask:success:discrete:True\u003e\nstack the glasses 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: stack the glasses in the holder\n\u003c/PRED\u003e","video":"8120243827278829570.mp4"}
+{"uid":"7318006347821917175","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand 4- pick some glasses 5- put plastic glasses in stand Q: immediate next step? \u003cPRED\u003eA: pick up the plastic glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand 4- pick some glasses 5- put plastic glasses in stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the plastic glass 2- put plastic cup in stand 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the plastic glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the plastic glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the plastic glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. Q: immediate next step? \u003cPRED\u003eA: pick up the plastic glass\n\u003c/PRED\u003e","video":"7227009814198766576.mp4"}
+{"uid":"11747832030176362585","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. Q: immediate next step? \u003cPRED\u003eA: pick up the plastic glasses\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the plastic 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the plastic glasses 2- put plastic glasses in stand 3- pick some glasses 4- put plastic glasses in stand 5- pick the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the plastic glasses\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the plastic 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder Q: immediate next step? \u003cPRED\u003eA: pick up the plastic glasses\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the plastic glasses\n\u003c/PRED\u003e","video":"7927564810696057261.mp4"}
+{"uid":"12448088987079134440","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place some glasses in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace some glasses 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: refill clear cups into a bracket spot of its tray that has a low amount. Q: immediate next step? \u003cPRED\u003eA: place some glasses in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place some glasses in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses Q: immediate next step? \u003cPRED\u003eA: place some glasses in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses Q: next 5 steps? \u003cPRED\u003eA: 1- place some glasses in the holder 2- pick some glasses 3- put plastic glasses in stand 4- pick the glass 5- put plastic cup in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace some glasses 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":"16512549127295233893.mp4"}
+{"uid":"3321817082275364707","text":"\u003ctask:success:discrete:True\u003e\npick up the plastic 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the plastic glasses\n\u003c/PRED\u003e","video":"13994160175179670786.mp4"}
+{"uid":"2128169400174463495","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder Q: immediate next step? \u003cPRED\u003eA: pick some glasses\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick some glasses 2- put plastic glasses in stand 3- pick some glasses 4- put plastic glasses in stand 5- pick the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick some 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick some glasses\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick some glasses\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. Q: immediate next step? \u003cPRED\u003eA: pick some glasses\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick some 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","video":"2350672139736438515.mp4"}
+{"uid":"10804345399490947150","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":"3024507227039993288.mp4"}
+{"uid":"4239636316825026889","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place some glasses in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace some glasses 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: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place some glasses in the holder 2- pick some glasses 3- put plastic glasses in stand 4- pick some glasses 5- put plastic glasses in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. Q: immediate next step? \u003cPRED\u003eA: place some glasses in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place some glasses in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place some glasses in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace some glasses 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":"18062397593507577168.mp4"}
+{"uid":"1837947743986260240","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":"1156543185885318163.mp4"}
+{"uid":"15329598090749023818","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the white packet from yje table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7528720400839502463.mp4"}
+{"uid":"130406783407380705","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":"8690772557495291551.mp4"}
+{"uid":"6740885419393072187","text":"\u003ctask:success:discrete:True\u003e\npick up the plastic 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the plastic glasses\n\u003c/PRED\u003e","video":"4083235418011671141.mp4"}
+{"uid":"6255341352090841504","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes 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":"1759735976718641073.mp4"}
+{"uid":"18383403920966198347","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":"4748650010596228485.mp4"}
+{"uid":"14572463826226537198","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glasses in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the glasses 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\nstack the glasses 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: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: stack the glasses in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glasses in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. Q: immediate next step? \u003cPRED\u003eA: stack the glasses in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand 4- pick some glasses 5- put plastic glasses in stand\n\u003c/PRED\u003e","video":"10779058902938791925.mp4"}
+{"uid":"15609105680043798343","text":"\u003ctask:success:discrete:True\u003e\npick some 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick some glasses\n\u003c/PRED\u003e","video":"5881347572978847866.mp4"}
+{"uid":"2517486126849664531","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place some glasses in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace some glasses 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":"5060128932611633025.mp4"}
+{"uid":"10837374465694994324","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"2884999251112491669.mp4"}
+{"uid":"5529726275737927897","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses 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":"9247071333020065907.mp4"}
+{"uid":"929642295185487019","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place some glasses in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace some glasses 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":"14671467554171752557.mp4"}
+{"uid":"9486242403931860875","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":"17337982527923549682.mp4"}
+{"uid":"14597883652269454752","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the blue 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":"2044968815290940049.mp4"}
+{"uid":"14084472590136311973","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the medicine box in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10634300116021171558.mp4"}
+{"uid":"13000736960895802283","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place some glasses in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace some glasses 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":"8326620560912597160.mp4"}
+{"uid":"8602884645437152615","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glasses in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the glasses 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":"18003419668856565574.mp4"}
+{"uid":"5580954890036058392","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand 4- pick some glasses 5- put plastic glasses in stand Q: immediate next step? \u003cPRED\u003eA: pick the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand 4- pick some glasses 5- put plastic glasses in stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick the glass 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. Q: immediate next step? \u003cPRED\u003eA: pick the glass\n\u003c/PRED\u003e","video":"2307631013927285329.mp4"}
+{"uid":"5510883038791074586","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":"2277988845935698415.mp4"}
+{"uid":"18363919696593542374","text":"\u003ctask:success:discrete:False\u003e\npick some 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:planning:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. Q: immediate next step? \u003cPRED\u003eA: pick some glasses\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick some 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand Q: immediate next step? \u003cPRED\u003eA: pick some glasses\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick some glasses\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick some glasses\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick some glasses 2- pick the glass 3- put plastic cup in stand 4- done\n\u003c/PRED\u003e","video":"13144130183094807093.mp4"}
+{"uid":"2654275465008665947","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand 4- pick some glasses 5- put plastic glasses in stand Q: next 5 steps? \u003cPRED\u003eA: 1- put plastic cup in stand 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand 4- pick some glasses 5- put plastic glasses in stand Q: immediate next step? \u003cPRED\u003eA: put plastic cup in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput plastic cup 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put plastic cup in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put plastic cup in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. Q: immediate next step? \u003cPRED\u003eA: put plastic cup in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput plastic cup 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","video":"18346893944804372133.mp4"}
+{"uid":"78474857137482270","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand 4- pick some glasses 5- put plastic glasses in stand 6- pick the glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand 4- pick some glasses 5- put plastic glasses in stand 6- pick the glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the glass\n\u003c/PRED\u003e","video":"9173426621674906170.mp4"}
+{"uid":"2401088174980293523","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put plastic glasses in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put plastic glasses in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put plastic glasses in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put plastic glasses in stand 2- pick some glasses 3- put plastic glasses in stand 4- pick some glasses 5- put plastic glasses in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. Q: immediate next step? \u003cPRED\u003eA: put plastic glasses in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput plastic glasses 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 plastic glasses 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","video":"12783538358703069209.mp4"}
+{"uid":"8343862515816240068","text":"\u003ctask:success:discrete:True\u003e\npick some 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick some glasses\n\u003c/PRED\u003e","video":"7448829281210244643.mp4"}
+{"uid":"18102222921445244548","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput plastic glasses 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 plastic glasses in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. Q: immediate next step? \u003cPRED\u003eA: put plastic glasses in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses Q: next 5 steps? \u003cPRED\u003eA: 1- put plastic glasses in stand 2- pick some glasses 3- put plastic glasses in stand 4- pick the glass 5- put plastic cup in stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses Q: immediate next step? \u003cPRED\u003eA: put plastic glasses in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put plastic glasses in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput plastic glasses 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":"2473985092516069945.mp4"}
+{"uid":"4285402809406124124","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place some glasses in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace some glasses 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: refill clear cups into a bracket spot of its tray that has a low amount. Q: immediate next step? \u003cPRED\u003eA: place some glasses in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace some glasses 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: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand 4- pick some glasses Q: next 5 steps? \u003cPRED\u003eA: 1- place some glasses in the holder 2- pick the glass 3- put plastic cup in stand 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place some glasses in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand 4- pick some glasses Q: immediate next step? \u003cPRED\u003eA: place some glasses in the holder\n\u003c/PRED\u003e","video":"8987546327968051917.mp4"}
+{"uid":"168025044499419922","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11230841446631643195.mp4"}
+{"uid":"1923187483503762111","text":"\u003ctask:success:discrete:True\u003e\nstack the glasses 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: stack the glasses in the holder\n\u003c/PRED\u003e","video":"2079040797679809961.mp4"}
+{"uid":"7974479437933020370","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder Q: immediate next step? \u003cPRED\u003eA: stack the glasses in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glasses in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. Q: immediate next step? \u003cPRED\u003eA: stack the glasses in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the glasses 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\nstack the glasses 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: stack the glasses in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand 4- pick the glass 5- put plastic cup in stand\n\u003c/PRED\u003e","video":"10259773742501231387.mp4"}
+{"uid":"13438259119420739945","text":"\u003ctask:success:discrete:True\u003e\nput plastic glasses 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 plastic glasses in stand\n\u003c/PRED\u003e","video":"18425887307528581125.mp4"}
+{"uid":"3235135291842868156","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the plastic glasses\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the plastic glasses 2- pick some glasses 3- put plastic glasses in stand 4- pick some glasses 5- put plastic glasses in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the plastic glasses\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the plastic glasses\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. Q: immediate next step? \u003cPRED\u003eA: pick up the plastic glasses\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the plastic 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:success:discrete:False\u003e\npick up the plastic 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","video":"16786988001471483496.mp4"}
+{"uid":"18165924051937380422","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glasses in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the glasses 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: stack the glasses in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glasses in the holder 2- pick the glass 3- put plastic cup in stand 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. Q: immediate next step? \u003cPRED\u003eA: stack the glasses in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand Q: immediate next step? \u003cPRED\u003eA: stack the glasses in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glasses 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":"11132617384775080216.mp4"}
+{"uid":"17346263739843273355","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put plastic glasses in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put plastic glasses in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand Q: next 5 steps? \u003cPRED\u003eA: 1- put plastic glasses in stand 2- pick the glass 3- put plastic cup in stand 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput plastic glasses 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: refill clear cups into a bracket spot of its tray that has a low amount. Q: immediate next step? \u003cPRED\u003eA: put plastic glasses in stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand Q: immediate next step? \u003cPRED\u003eA: put plastic glasses in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput plastic glasses 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","video":"14659876078034744096.mp4"}
+{"uid":"14565167514948608991","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick 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":"5503568636555612376.mp4"}
+{"uid":"17661768869093234509","text":"\u003ctask:success:discrete:True\u003e\nput plastic glasses 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 plastic glasses in stand\n\u003c/PRED\u003e","video":"60917702669742841.mp4"}
+{"uid":"6852010897945247707","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp 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":"4693786011343447275.mp4"}
+{"uid":"17737446540851833929","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the plastic glasses\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the plastic glasses\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the plastic 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the plastic glasses 2- put plastic glasses in stand 3- pick the glass 4- put plastic cup in stand 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. Q: immediate next step? \u003cPRED\u003eA: pick up the plastic glasses\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the plastic 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand Q: immediate next step? \u003cPRED\u003eA: pick up the plastic glasses\n\u003c/PRED\u003e","video":"7607020464617672465.mp4"}
+{"uid":"7047401228865893541","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand 4- pick some glasses 5- put plastic glasses in stand 6- stack the glass in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand 4- pick some glasses 5- put plastic glasses in stand 6- stack the glass in the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the glass 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":"5237288951952091890.mp4"}
+{"uid":"1586540431284766666","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand 4- pick some glasses 5- put plastic glasses in stand Q: immediate next step? \u003cPRED\u003eA: stack the glass in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass 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: stack the glass in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand 4- pick some glasses 5- put plastic glasses in stand Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass in the holder 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. Q: immediate next step? \u003cPRED\u003eA: stack the glass in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the glass 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":"15837020090403473084.mp4"}
+{"uid":"6771693514320921748","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put plastic glasses in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput plastic glasses 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":"6399527985057530759.mp4"}
+{"uid":"16170232211378932930","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put plastic cup in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand 4- pick some glasses 5- put plastic glasses in stand 6- put plastic cup in stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand 4- pick some glasses 5- put plastic glasses in stand 6- put plastic cup in stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput plastic cup 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":"72107610316971078.mp4"}
+{"uid":"15015779127641573850","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack plastic glass on top of existing stack on 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":"7619149288625074622.mp4"}
+{"uid":"8249421267239686067","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand 4- pick some glasses 5- put plastic glasses in stand 6- pick the glass 7- place glass in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace glass 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 glass in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. last 20 steps: 1- stack the glasses in the holder 2- pick some glasses 3- put plastic glasses in stand 4- pick some glasses 5- put plastic glasses in stand 6- pick the glass 7- place glass in the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: refill clear cups into a bracket spot of its tray that has a low amount. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7920245198440712761.mp4"}
+{"uid":"3796373544392212718","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop a peanut in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9817972677205426461.mp4"}
+{"uid":"13419780356591522908","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTake out the glasses from the 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":"2423729013147297037.mp4"}
+{"uid":"7529966991164482077","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the right brown object from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3373404665576029269.mp4"}
+{"uid":"3392701461187469037","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put back all the fruits inside 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 pear in the bowl 2- put apple in the bowl 3- put apple in the bowl 4- put pear in the bowl 5- put apple 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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put back all the fruits inside 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 pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put back all the fruits inside the bowl Q: immediate next step? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e","video":"13732990975152891960.mp4"}
+{"uid":"8119567557289753561","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the strainer 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":"10502643816200868614.mp4"}
+{"uid":"5820459850269137177","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"13710892605471166590.mp4"}
+{"uid":"16239207525536381904","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista 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\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":"15256568654286610586.mp4"}
+{"uid":"10587344029743295756","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: Place a small clip inside the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray 7- put the paper clip in the tray 8- put paper clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place a small clip inside the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace a small clip inside 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: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray 7- put the paper clip in the tray 8- put paper clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place a small clip inside the tray 2- drop paper clip in the tray 3- Place a small clip inside the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a small clip inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a small clip inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a small clip inside the tray\n\u003c/PRED\u003e","video":"14585414117024124319.mp4"}
+{"uid":"17915787196090535416","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bowl in 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":"13280822632388229954.mp4"}
+{"uid":"1800764799444412612","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop paper clip in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop paper clip 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":"1076231694108808749.mp4"}
+{"uid":"3884280810657576997","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a paper 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":"6008458921637378260.mp4"}
+{"uid":"2758569217061009318","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":"15764343914601298576.mp4"}
+{"uid":"10638644157791899018","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":"8590013617256165595.mp4"}
+{"uid":"11233534944885881387","text":"\u003ctask:success:discrete:False\u003e\nplace the binder clip in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the binder clip in the tray 2- drop paper clip in the tray 3- drop the paper clip in the tray 4- put the paper clip in the tray 5- put paper clip in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the binder clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray Q: immediate next step? \u003cPRED\u003eA: place the binder clip in the tray\n\u003c/PRED\u003e","video":"13019184814255491929.mp4"}
+{"uid":"2761037614399834098","text":"\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\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put back all the fruits inside 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 pear in the bowl 4- put apple in the bowl 5- put apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put back all the fruits inside 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:planning:freeform\u003e\ncurrent goal is: put back all the fruits inside the bowl Q: immediate next step? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e","video":"3609802780523571670.mp4"}
+{"uid":"2221627552313819816","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: drop paper clip in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop paper clip in the tray 2- drop paper clip in the tray 3- drop the paper clip in the tray 4- put the paper clip in the tray 5- put paper clip in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop paper clip in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop paper clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop paper clip in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray Q: immediate next step? \u003cPRED\u003eA: drop paper clip in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop paper clip in the tray\n\u003c/PRED\u003e","video":"8509287103238865541.mp4"}
+{"uid":"4319352409348876611","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray Q: immediate next step? \u003cPRED\u003eA: drop the paper clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the paper clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the paper clip in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the paper clip in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: drop the paper clip in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the paper clip in the tray 2- put the paper clip in the tray 3- put paper clip in the tray 4- drop the gripper in the tray 5- drop paper clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the paper clip in the tray\n\u003c/PRED\u003e","video":"10149030469588139085.mp4"}
+{"uid":"9280090716962075297","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pea in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16859407523987972199.mp4"}
+{"uid":"10055007580057769185","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the bottom right 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":"12297224909711653375.mp4"}
+{"uid":"2038170582907348232","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a small clip inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a small clip inside the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray 7- put the paper clip in the tray 8- put paper clip in the tray 9- drop the gripper in the tray 10- drop paper clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place a small clip inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a small clip inside the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray 7- put the paper clip in the tray 8- put paper clip in the tray 9- drop the gripper in the tray 10- drop paper clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place a small clip inside the tray 2- done\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\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: Place a small clip inside the tray\n\u003c/PRED\u003e","video":"1429236953765959736.mp4"}
+{"uid":"7090057248151850059","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a bigger clip inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a bigger clip inside the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place a bigger clip inside the tray 2- drop the paper clip in the tray 3- put the paper clip in the tray 4- put paper clip in the tray 5- drop the gripper in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace a bigger clip inside 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 a bigger clip inside the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: Place a bigger clip inside the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place a bigger clip inside the tray\n\u003c/PRED\u003e","video":"6395251837377514689.mp4"}
+{"uid":"1901062528636378212","text":"\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 back all the fruits inside 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: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 back all the fruits inside 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 pear in the bowl 5- put apple 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: put back all the fruits inside 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 pear in the bowl 5- 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 apple in the bowl 4- put pear in the bowl 5- done\n\u003c/PRED\u003e","video":"4703691615408474496.mp4"}
+{"uid":"7002243896432984109","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":"16585332735579059885.mp4"}
+{"uid":"686994566963538815","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the binder clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray 7- put the paper clip in the tray 8- put paper clip in the tray 9- drop the gripper in the tray 10- drop paper clip in the tray Q: immediate next step? \u003cPRED\u003eA: place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the binder clip in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray 7- put the paper clip in the tray 8- put paper clip in the tray 9- drop the gripper in the tray 10- drop paper clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the binder clip in the tray 2- done\n\u003c/PRED\u003e","video":"15866615182859708283.mp4"}
+{"uid":"12276024146484485081","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":"5275180058768285436.mp4"}
+{"uid":"2815945241563996688","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place a bigger clip inside the tray 2- put paper clip in the tray 3- drop the gripper in the tray 4- drop paper clip in the tray 5- Place a small clip inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a bigger clip inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place a bigger clip inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a bigger clip inside the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: Place a bigger clip inside the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a bigger clip inside the tray\n\u003c/PRED\u003e","video":"10675717097756890569.mp4"}
+{"uid":"18306508178196591742","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":"11062441628491679435.mp4"}
+{"uid":"3101909806527888297","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease 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":"3211120610354513411.mp4"}
+{"uid":"17834083315158420044","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGet it 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":"3939657671182726849.mp4"}
+{"uid":"10439903660404430112","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: put the paper clip in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the paper clip in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray Q: immediate next step? \u003cPRED\u003eA: put the paper clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper clip in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper clip in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper clip in the tray 2- put paper clip in the tray 3- drop the gripper in the tray 4- drop paper clip in the tray 5- Place a small clip inside the tray\n\u003c/PRED\u003e","video":"13829662227560889865.mp4"}
+{"uid":"13739718976555370049","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e","video":"5130374664617125421.mp4"}
+{"uid":"9202051403020747455","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place small clip inside the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: Place small clip inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace small clip inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place small clip inside the tray 2- put paper clip in the tray 3- drop the gripper in the tray 4- drop paper clip in the tray 5- Place a small clip inside the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace small clip inside 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 small clip inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place small clip inside the tray\n\u003c/PRED\u003e","video":"8146886556806565045.mp4"}
+{"uid":"6221994309559606765","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bowl 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":"18066269587390741744.mp4"}
+{"uid":"7782451366773554441","text":"\u003ctask:success:discrete:True\u003e\nput pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e","video":"3031067205829129781.mp4"}
+{"uid":"6750684445906924255","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4060902426432503094.mp4"}
+{"uid":"1055250304033251352","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please throw away the cup and bowl into the compostables bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the cup and bowl into the compostables bin. last 20 steps: 1- place the paper bowl into the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please throw away the cup and bowl into the compostables bin. last 20 steps: 1- place the paper bowl into 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 paper bowl into the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the paper bowl into the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14262365229113755657.mp4"}
+{"uid":"618589838621219041","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sticky note on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you get me a notepad and pen and bring it to my desk and also turn on the lamp Q: immediate next step? \u003cPRED\u003eA: place the sticky note on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me a notepad and pen and bring it to my desk and also turn on the lamp. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the sticky note on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sticky note on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me a notepad and pen and bring it to my desk and also turn on the lamp. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticky note on the table 2- place the pen on the sticky note 3- place the pen on the sticky note 4- place the sticky note on the table 5- place the pen on the sticky note\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticky note on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sticky note on the table\n\u003c/PRED\u003e","video":"16224755219095856122.mp4"}
+{"uid":"13810224102717274194","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the battery on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7547625439504429181.mp4"}
+{"uid":"1649641682542871892","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":"14693805247522797229.mp4"}
+{"uid":"11463141306252951425","text":"\u003ctask:success:discrete:False\u003e\nPlace medium clip inside the black 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 medium clip inside the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place medium clip inside the black tray 2- drop paper clip in the tray 3- drop paper clip in the tray 4- drop the paper clip in the tray 5- put the paper clip in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place medium clip inside the black tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place medium clip inside the black tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: Place medium clip inside the black tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place medium clip inside the black tray\n\u003c/PRED\u003e","video":"13772883266562676405.mp4"}
+{"uid":"7525934869893423156","text":"\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: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 back all the fruits inside 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 pear in the bowl 5- put apple in the bowl 6- put apple in the bowl 7- put pear in the bowl 8- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put pear in the bowl 2- 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: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 back all the fruits inside 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 pear in the bowl 5- put apple in the bowl 6- put apple in the bowl 7- put pear in the bowl 8- 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 back all the fruits inside the bowl Q: immediate next step? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e","video":"17001606311315532015.mp4"}
+{"uid":"8855468302860155050","text":"\u003ctask:success:discrete:True\u003e\nplace the sticky note on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the sticky note on the table\n\u003c/PRED\u003e","video":"7019398871605442184.mp4"}
+{"uid":"1350640407664387602","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":"2666530773701779986.mp4"}
+{"uid":"7128955026278863658","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15720452556309845774.mp4"}
+{"uid":"5188406393324912386","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me a notepad and pen and bring it to my desk and also turn on the lamp. last 20 steps: 1- place the sticky note on the table 2- place the pen on the sticky note 3- place the pen on the sticky note 4- place the sticky note on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the sticky note\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you get me a notepad and pen and bring it to my desk and also turn on the lamp Q: immediate next step? \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: can you get me a notepad and pen and bring it to my desk and also turn on the lamp. last 20 steps: 1- place the sticky note on the table 2- place the pen on the sticky note 3- place the pen on the sticky note 4- place the sticky note on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the sticky note 2- turn on the light 3- done\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: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: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":"1378756955849541556.mp4"}
+{"uid":"1101771782494531284","text":"\u003ctask:success:discrete:True\u003e\nplace the binder clip 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 binder clip in the tray\n\u003c/PRED\u003e","video":"2552151135191991679.mp4"}
+{"uid":"5725654430158408094","text":"\u003ctask:success:discrete:True\u003e\nPlace larger clip inside 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 larger clip inside the tray\n\u003c/PRED\u003e","video":"1303498396210284872.mp4"}
+{"uid":"3449930951205664198","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the paper clip in the tray 2- drop paper clip in the tray 3- drop paper clip in the tray 4- drop the paper clip in the tray 5- put the paper clip in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the paper clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the paper clip in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: drop the paper clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the paper clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray Q: immediate next step? \u003cPRED\u003eA: drop the paper clip in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the paper clip in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2901411480031796890.mp4"}
+{"uid":"8072663800953072681","text":"\u003ctask:success:discrete:False\u003e\nPlace the binder clip in the try Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 binder clip in the try Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the try\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray 7- put the paper clip in the tray 8- put paper clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the binder clip in the try 2- drop paper clip in the tray 3- Place a small clip inside the tray 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray 7- put the paper clip in the tray 8- put paper clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the try\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the binder clip in the try\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the binder clip in the try\n\u003c/PRED\u003e","video":"1186768254873252144.mp4"}
+{"uid":"7662081058043040130","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green candy in the organiser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6141813399300744954.mp4"}
+{"uid":"7024363925753249836","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the paper clip in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the paper clip 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":"14436649603592408822.mp4"}
+{"uid":"16506775925683131320","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":"1789283070388198194.mp4"}
+{"uid":"13849911437092258031","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the binder clip in the tray 2- drop the paper clip in the tray 3- drop paper clip in the tray 4- drop paper clip in the tray 5- drop the paper clip in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the binder clip in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the binder clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e","video":"16396062532369115437.mp4"}
+{"uid":"648096296940083048","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":"3287330970170651358.mp4"}
+{"uid":"12724734155423385856","text":"\u003ctask:success:discrete:False\u003e\nPlace the binder clip in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the binder clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the binder clip in the tray 2- put the paper clip in the tray 3- put paper clip in the tray 4- drop the gripper in the tray 5- drop paper clip in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e","video":"1885235448667375431.mp4"}
+{"uid":"17536741767766377612","text":"\u003ctask:success:discrete:True\u003e\ndrop paper clip  in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop paper clip  in the tray\n\u003c/PRED\u003e","video":"14319120197436385297.mp4"}
+{"uid":"16840772308602470557","text":"\u003ctask:success:discrete:True\u003e\nPlace a bigger clip inside 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 a bigger clip inside the tray\n\u003c/PRED\u003e","video":"14336343762923434528.mp4"}
+{"uid":"2780470360951613641","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":"7901225470325758400.mp4"}
+{"uid":"12518560166394934424","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the binder clip in the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the binder clip in the table 2- drop paper clip in the tray 3- drop paper clip in the tray 4- drop the paper clip in the tray 5- put the paper clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the binder clip 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the binder clip in the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the binder clip 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","video":"6636359721907245953.mp4"}
+{"uid":"9157217899488503203","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the star shape 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":"16390641909354842805.mp4"}
+{"uid":"10535411415746210746","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop paper clip  in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop paper clip  in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: drop paper clip  in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray Q: immediate next step? \u003cPRED\u003eA: drop paper clip  in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop paper clip  in the tray 2- drop the paper clip in the tray 3- drop paper clip in the tray 4- drop paper clip in the tray 5- drop the paper clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop paper clip  in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop paper clip  in the tray\n\u003c/PRED\u003e","video":"2246555521816192534.mp4"}
+{"uid":"7813414161220363359","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace larger clip inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: Place larger clip inside the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place larger clip inside the tray 2- drop paper clip in the tray 3- drop the paper clip in the tray 4- put the paper clip in the tray 5- put paper clip in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place larger clip inside the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place larger clip inside the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace larger clip inside the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place larger clip inside the tray\n\u003c/PRED\u003e","video":"11339887332380956675.mp4"}
+{"uid":"11198359721202357531","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the paper clip in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the paper clip 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":"4918426322850846365.mp4"}
+{"uid":"15043003554764959996","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":"5090487844882511580.mp4"}
+{"uid":"865804593089783869","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the binder clip in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the binder clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray Q: immediate next step? \u003cPRED\u003eA: place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the binder clip in the tray 2- drop the paper clip in the tray 3- put the paper clip in the tray 4- put paper clip in the tray 5- drop the gripper in the tray\n\u003c/PRED\u003e","video":"15073708229121286477.mp4"}
+{"uid":"18026826489547905576","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":"7650885134296947732.mp4"}
+{"uid":"9065128583523676365","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a bottle in 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":"7428413172840852003.mp4"}
+{"uid":"3149681859488297785","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put back all the fruits inside 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 back all the fruits inside 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 pear in the bowl 5- put apple in the bowl 6- put apple 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 back all the fruits inside 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 pear in the bowl 5- put apple in the bowl 6- put apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put pear in the bowl 2- put apple in the bowl 3- put pear 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 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":"29654762381946296.mp4"}
+{"uid":"9938069100913822979","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put back all the fruits inside 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 pear in the bowl 5- put apple in the bowl 6- put apple in the bowl 7- put pear in the bowl 8- put apple in the bowl 9- put pear in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put back all the fruits inside the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put back all the fruits inside 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 pear in the bowl 5- put apple in the bowl 6- put apple in the bowl 7- put pear in the bowl 8- put apple in the bowl 9- put pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pear in the bowl\n\u003c/PRED\u003e","video":"6904669116269937089.mp4"}
+{"uid":"15786725019631336073","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the banana in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12354778916366896539.mp4"}
+{"uid":"8440451478474419649","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush cart 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":"9613235336200882876.mp4"}
+{"uid":"14648776674784829244","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the paper clip in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the paper clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the paper clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the paper clip in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the paper clip in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: drop the paper clip in the tray\n\u003c/PRED\u003e","video":"11016049889081033019.mp4"}
+{"uid":"6939968040463130282","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray 7- put the paper clip in the tray Q: immediate next step? \u003cPRED\u003eA: put paper clip in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put paper clip in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput paper clip in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: put paper clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput paper clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray 7- put the paper clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put paper clip in the tray 2- drop the gripper in the tray 3- drop paper clip in the tray 4- Place a small clip inside the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put paper clip in the tray\n\u003c/PRED\u003e","video":"10284919997556411847.mp4"}
+{"uid":"8901063356308371796","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put back all the fruits inside 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 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: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 back all the fruits inside 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put back all the fruits inside 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":"7296464091319816454.mp4"}
+{"uid":"1213574168810473704","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":"12940159427813397669.mp4"}
+{"uid":"11267258943864353356","text":"\u003ctask:success:discrete:True\u003e\ndrop the paper clip in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the paper clip in the tray\n\u003c/PRED\u003e","video":"14978356838769016208.mp4"}
+{"uid":"2012302933788970281","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the gripper in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: drop the gripper in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the gripper 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:False\u003e\ndrop the orange Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the gripper 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: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray 7- put the paper clip in the tray 8- put paper clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the gripper in the tray 2- drop paper clip in the tray 3- Place a small clip inside the tray 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray 7- put the paper clip in the tray 8- put paper clip in the tray Q: immediate next step? \u003cPRED\u003eA: drop the gripper in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the gripper in the tray\n\u003c/PRED\u003e","video":"1582837779797727593.mp4"}
+{"uid":"7218450884314227487","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pink 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":"9041405505041030956.mp4"}
+{"uid":"1114077694135744385","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":"18348340994122101894.mp4"}
+{"uid":"9821176419587524819","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put back all the fruits inside the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put back all the fruits inside 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 pear in the bowl 5- put apple in the bowl 6- put apple in the bowl 7- 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put back all the fruits inside 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 pear in the bowl 5- put apple in the bowl 6- put apple in the bowl 7- put pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in the bowl 2- put pear in the bowl 3- done\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: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","video":"12033444363379728920.mp4"}
+{"uid":"11058295655037393333","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me a notepad and pen and bring it to my desk and also turn on the lamp. last 20 steps: 1- place the sticky note on the table 2- place the pen on the sticky note 3- place the pen on the sticky note 4- place the sticky note on the table 5- place the pen on the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- turn on the light 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me a notepad and pen and bring it to my desk and also turn on the lamp. last 20 steps: 1- place the sticky note on the table 2- place the pen on the sticky note 3- place the pen on the sticky note 4- place the sticky note on the table 5- place the pen on the sticky note Q: immediate next step? \u003cPRED\u003eA: turn on the light\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nturn on the light Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you get me a notepad and pen and bring it to my desk and also turn on the lamp Q: immediate next step? \u003cPRED\u003eA: turn on the light\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nturn on the light Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: turn on the light\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: turn on the light\n\u003c/PRED\u003e","video":"3482516848251546805.mp4"}
+{"uid":"16369885996425858174","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the paper clip in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the paper clip 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":"2950787610139848976.mp4"}
+{"uid":"17437827276506091175","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6868632354850527395.mp4"}
+{"uid":"2562624915124637854","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sticky note on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you get me a notepad and pen and bring it to my desk and also turn on the lamp Q: immediate next step? \u003cPRED\u003eA: place the sticky note on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sticky note on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me a notepad and pen and bring it to my desk and also turn on the lamp. last 20 steps: 1- place the sticky note on the table 2- place the pen on the sticky note 3- place the pen on the sticky note Q: immediate next step? \u003cPRED\u003eA: place the sticky note on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sticky note on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticky note on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me a notepad and pen and bring it to my desk and also turn on the lamp. last 20 steps: 1- place the sticky note on the table 2- place the pen on the sticky note 3- place the pen on the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticky note on the table 2- place the pen on the sticky note 3- turn on the light 4- done\n\u003c/PRED\u003e","video":"17168527704622917868.mp4"}
+{"uid":"13429256360107773497","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15263348141764281170.mp4"}
+{"uid":"10019772715199141799","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the carton box 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":"4155708982906388674.mp4"}
+{"uid":"15757462836762135522","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"10253816010182704956.mp4"}
+{"uid":"571374945032714789","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":"17403869812538325612.mp4"}
+{"uid":"16875261814549644175","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop paper clip in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: drop paper clip in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray Q: immediate next step? \u003cPRED\u003eA: drop paper clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop paper clip in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop paper clip in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop paper clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop paper clip in the tray 2- drop the paper clip in the tray 3- put the paper clip in the tray 4- put paper clip in the tray 5- drop the gripper in the tray\n\u003c/PRED\u003e","video":"8587046162937133076.mp4"}
+{"uid":"4556612423630269486","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: Place small clip inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace small clip inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray 7- put the paper clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place small clip inside the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray 7- put the paper clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place small clip inside the tray 2- drop the gripper in the tray 3- drop paper clip in the tray 4- Place a small clip inside the tray 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place small clip inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place small clip inside the tray\n\u003c/PRED\u003e","video":"4666877315925971999.mp4"}
+{"uid":"13931534731071294909","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace chips bag on counter from tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1637206116962437378.mp4"}
+{"uid":"9410617407116013565","text":"\u003ctask:success:discrete:True\u003e\nPlace medium clip inside 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 medium clip inside the tray\n\u003c/PRED\u003e","video":"9633301106475446990.mp4"}
+{"uid":"6961672131470118735","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink marker in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14185640002197720339.mp4"}
+{"uid":"5995594730895308261","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10484152874518812731.mp4"}
+{"uid":"7713620591666148328","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you get me a notepad and pen and bring it to my desk and also turn on the lamp Q: immediate next step? \u003cPRED\u003eA: place the pen on the sticky note\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me a notepad and pen and bring it to my desk and also turn on the lamp. last 20 steps: 1- place the sticky note on the table 2- place the pen on the sticky note Q: immediate next step? \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: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: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: can you get me a notepad and pen and bring it to my desk and also turn on the lamp. last 20 steps: 1- place the sticky note on the table 2- place the pen on the sticky note Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the sticky note 2- place the sticky note on the table 3- place the pen on the sticky note 4- turn on the light 5- done\n\u003c/PRED\u003e","video":"3365717445055299480.mp4"}
+{"uid":"1458628434923770312","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray 7- put the paper clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the binder clip in the tray 2- drop the gripper in the tray 3- drop paper clip in the tray 4- Place a small clip inside the tray 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray 7- put the paper clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the binder clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7311699833744058016.mp4"}
+{"uid":"18228850063160424804","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":"14817105618015441331.mp4"}
+{"uid":"9083980597794881358","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease 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":"18240181868538364676.mp4"}
+{"uid":"2648848947085115429","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":"14642739719598165484.mp4"}
+{"uid":"8974677477067458263","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put back all the fruits inside 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 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 apple in the bowl 5- put pear 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 back all the fruits inside 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 pear in the bowl Q: immediate next step? \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: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: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 back all the fruits inside the bowl Q: immediate next step? \u003cPRED\u003eA: put apple in the bowl\n\u003c/PRED\u003e","video":"3557143594352195675.mp4"}
+{"uid":"9963749570233065159","text":"\u003ctask:success:discrete:True\u003e\nPlace the medium clip inside 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 medium clip inside the tray\n\u003c/PRED\u003e","video":"15325942186285882142.mp4"}
+{"uid":"6616143618606449526","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the tissue 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":"5643759561278908222.mp4"}
+{"uid":"9911397929798800149","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the medium clip inside the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: Place the medium clip inside the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the medium clip inside the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the medium clip inside the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the medium clip inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the medium clip inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the medium clip inside the tray 2- drop the paper clip in the tray 3- drop paper clip in the tray 4- drop paper clip in the tray 5- drop the paper clip in the tray\n\u003c/PRED\u003e","video":"9250139033373376729.mp4"}
+{"uid":"7197253938175476317","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the binder clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the binder clip in the tray 2- put paper clip in the tray 3- drop the gripper in the tray 4- drop paper clip in the tray 5- Place a small clip inside the tray\n\u003c/PRED\u003e","video":"15350823645484395076.mp4"}
+{"uid":"7262621967559261992","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace medium clip inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 medium clip inside 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: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place medium clip inside the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place medium clip inside the tray 2- drop paper clip in the tray 3- drop the paper clip in the tray 4- put the paper clip in the tray 5- put paper clip in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the binder clip in the tray 2- drop paper clip in the tray 3- drop paper clip in the tray 4- drop the paper clip in the tray 5- put the paper clip in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the binder clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray Q: immediate next step? \u003cPRED\u003eA: Place medium clip inside the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the binder clip in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: Place medium clip inside the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place medium clip inside the tray\n\u003c/PRED\u003e","video":"2779896055131529242.mp4"}
+{"uid":"11299795443594159837","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray 7- put the paper clip in the tray 8- put paper clip in the tray 9- drop the gripper in the tray Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the binder clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray 7- put the paper clip in the tray 8- put paper clip in the tray 9- drop the gripper in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the binder clip in the tray 2- Place a small clip inside the tray 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the binder clip in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the binder clip in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9832295920151784290.mp4"}
+{"uid":"11539116760395585494","text":"\u003ctask:success:discrete:False\u003e\ndrop paper clip in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop paper clip in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray 7- put the paper clip in the tray 8- put paper clip in the tray 9- drop the gripper in the tray Q: immediate next step? \u003cPRED\u003eA: drop paper clip in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop paper clip in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray 7- put the paper clip in the tray 8- put paper clip in the tray 9- drop the gripper in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop paper clip in the tray 2- Place a small clip inside the tray 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop paper clip in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: drop paper clip in the tray\n\u003c/PRED\u003e","video":"338411340266937292.mp4"}
+{"uid":"4626974184519565614","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray Q: immediate next step? \u003cPRED\u003eA: Place a small clip inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place a small clip inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace a small clip inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray 7- put the paper clip in the tray 8- put paper clip in the tray 9- drop the gripper in the tray Q: immediate next step? \u003cPRED\u003eA: Place a small clip inside the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize the binder clips back into their respective places in the organizer tray. last 20 steps: 1- drop the paper clip in the tray 2- drop paper clip  in the tray 3- drop the paper clip in the tray 4- drop paper clip in the tray 5- drop paper clip in the tray 6- drop the paper clip in the tray 7- put the paper clip in the tray 8- put paper clip in the tray 9- drop the gripper in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place a small clip inside the tray 2- Place a small clip inside the tray 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place a small clip inside the tray\n\u003c/PRED\u003e","video":"12353760627825968590.mp4"}
+{"uid":"6915430461804461279","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrag the yellow chip bag off the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7720703851751363220.mp4"}
+{"uid":"13868783236681042945","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me a notepad and pen and bring it to my desk and also turn on the lamp. last 20 steps: 1- place the sticky note on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen on the sticky note 2- place the pen on the sticky note 3- place the sticky note on the table 4- place the pen on the sticky note 5- turn on the light\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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you get me a notepad and pen and bring it to my desk and also turn on the lamp. last 20 steps: 1- place the sticky note on the table Q: immediate next step? \u003cPRED\u003eA: place the pen on the sticky note\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you get me a notepad and pen and bring it to my desk and also turn on the lamp Q: immediate next step? \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","video":"13846151436887611899.mp4"}
+{"uid":"4559091588038993531","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"17718479908472151192.mp4"}
+{"uid":"10380804680410135644","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the nora 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":"11979289935422265237.mp4"}
+{"uid":"104151772226649009","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. last 20 steps: 1- pick a plastic wrap 2- pick up the plastic wraps 3- move your arm towards the plastic wraps 4- move your arm towards the bin 5- drop the plastic wrap in the bin 6- move your arm close to the plastic wraps 7- pick a plastic wrap 8- pick up a plastic wrap Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up a plastic wrap\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up a plastic 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. last 20 steps: 1- pick a plastic wrap 2- pick up the plastic wraps 3- move your arm towards the plastic wraps 4- move your arm towards the bin 5- drop the plastic wrap in the bin 6- move your arm close to the plastic wraps 7- pick a plastic wrap 8- pick up a plastic wrap Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6566703332105244.mp4"}
+{"uid":"18123328839328474416","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16115886042606719087.mp4"}
+{"uid":"17037079040654337409","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the chocolate tray on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13356671776581100935.mp4"}
+{"uid":"10248298379421237258","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm towards the plastic wraps\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove your arm towards the plastic wraps Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5899999160749105813.mp4"}
+{"uid":"3173356665116150760","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: place popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk. last 20 steps: 1- open the drawer 2- place popcorn packet on the table 3- close the drawer Q: immediate next step? \u003cPRED\u003eA: place popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk. last 20 steps: 1- open the drawer 2- place popcorn packet on the table 3- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place popcorn packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7724978197536184758.mp4"}
+{"uid":"9522120079521038261","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15319645913945822223.mp4"}
+{"uid":"14836800724455663777","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place popcorn packet on the table 2- close the drawer 3- place popcorn packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: place popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: place popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5402224930627624188.mp4"}
+{"uid":"16794302566895459721","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. last 20 steps: 1- pick a plastic wrap Q: immediate next step? \u003cPRED\u003eA: pick up the plastic wraps\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. Q: immediate next step? \u003cPRED\u003eA: pick up the plastic wraps\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the plastic wraps\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the plastic wraps Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 plastic wraps Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the plastic wraps\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. last 20 steps: 1- pick a plastic wrap Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the plastic wraps 2- move your arm towards the plastic wraps 3- move your arm towards the bin 4- drop the plastic wrap in the bin 5- move your arm close to the plastic wraps\n\u003c/PRED\u003e","video":"2383649134590605318.mp4"}
+{"uid":"6133929438968179581","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"8653773213039618993.mp4"}
+{"uid":"12085190416808931013","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"967039310109866233.mp4"}
+{"uid":"8920068779160571035","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17964215944415899688.mp4"}
+{"uid":"7380688356074186522","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tea box in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18231494460785802629.mp4"}
+{"uid":"10217989830945957615","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"10717570739979689546.mp4"}
+{"uid":"15349289244734362967","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the banana in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10931411991694690931.mp4"}
+{"uid":"15963574739145233844","text":"\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 am hungry can you get me a popcorn chips from Mk kitchen to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk 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: i am hungry can you get me a popcorn chips from Mk kitchen to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place popcorn packet on the table 3- close the drawer 4- place popcorn packet on the table 5- done\n\u003c/PRED\u003e","video":"13758296197160682360.mp4"}
+{"uid":"14981634323846347315","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace sticky notes 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":"3678281079580289744.mp4"}
+{"uid":"13644742882520761010","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":"1688485155280049314.mp4"}
+{"uid":"18423055403575085669","text":"\u003ctask:success:discrete:True\u003e\npick a plastic 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: pick a plastic wrap\n\u003c/PRED\u003e","video":"1851985549171783876.mp4"}
+{"uid":"1112820807157696060","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":"10519867535152770835.mp4"}
+{"uid":"1999247870678317950","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table 8- Put the packet on the table 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:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table 8- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"10267701034936159907.mp4"}
+{"uid":"7507522126073952936","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. last 20 steps: 1- pick a plastic wrap 2- pick up the plastic wraps 3- move your arm towards the plastic wraps 4- move your arm towards the bin 5- drop the plastic wrap in the bin 6- move your arm close to the plastic wraps 7- pick a plastic wrap Q: immediate next step? \u003cPRED\u003eA: release the plastic wrap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nrelease the plastic 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: release the plastic wrap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: release the plastic wrap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease the plastic 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: put the loose plastic wrappers from the box into the recycle bin. last 20 steps: 1- pick a plastic wrap 2- pick up the plastic wraps 3- move your arm towards the plastic wraps 4- move your arm towards the bin 5- drop the plastic wrap in the bin 6- move your arm close to the plastic wraps 7- pick a plastic wrap Q: next 5 steps? \u003cPRED\u003eA: 1- release the plastic wrap 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. Q: immediate next step? \u003cPRED\u003eA: release the plastic wrap\n\u003c/PRED\u003e","video":"14024996792696615082.mp4"}
+{"uid":"1105434621213954305","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"4971856996702130932.mp4"}
+{"uid":"10537814087459404868","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet 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":"3388776092732311612.mp4"}
+{"uid":"4577294497419413510","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"10014148884334384762.mp4"}
+{"uid":"15938853575275177940","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":"10812733471609323527.mp4"}
+{"uid":"6227490377577899676","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a can inside the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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":"13861390991194823108.mp4"}
+{"uid":"14156676663612748832","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. last 20 steps: 1- pick a plastic wrap 2- pick up the plastic wraps 3- move your arm towards the plastic wraps 4- move your arm towards the bin Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the plastic wraps 2- pick up a plastic wrap 3- release the plastic wrap 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the plastic wraps\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. Q: immediate next step? \u003cPRED\u003eA: move your arm close to the plastic wraps\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to the plastic wraps Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 loose plastic wrappers from the box into the recycle bin. last 20 steps: 1- pick a plastic wrap 2- pick up the plastic wraps 3- move your arm towards the plastic wraps 4- move your arm towards the bin Q: immediate next step? \u003cPRED\u003eA: move your arm close to the plastic wraps\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to the plastic wraps Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 plastic wraps\n\u003c/PRED\u003e","video":"4903118173068999512.mp4"}
+{"uid":"11368268438285235470","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the wardrobe Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9282285389215535068.mp4"}
+{"uid":"11689491589198027287","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm towards the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove your arm towards 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":"8710933612758680379.mp4"}
+{"uid":"4356324814127583228","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. Q: immediate next step? \u003cPRED\u003eA: move your arm towards the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. last 20 steps: 1- pick a plastic wrap 2- pick up the plastic wraps Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm towards the bin 2- move your arm close to the plastic wraps 3- pick a plastic wrap 4- pick up a plastic wrap 5- release the plastic wrap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm towards 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 your arm towards 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: put the loose plastic wrappers from the box into the recycle bin. last 20 steps: 1- pick a plastic wrap 2- pick up the plastic wraps Q: immediate next step? \u003cPRED\u003eA: move your arm towards the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm towards the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm towards the bin\n\u003c/PRED\u003e","video":"5262995628766475822.mp4"}
+{"uid":"10684508982988221655","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table 8- Put the packet on the table 9- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table 7- Put the packet on the table 8- Put the packet on the table 9- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"11724560068034490989.mp4"}
+{"uid":"2776804587862289853","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the tray 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":"8273671591881920284.mp4"}
+{"uid":"15265853190884634260","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":"1579481315244769587.mp4"}
+{"uid":"4931244239898603840","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":"1616876684982077758.mp4"}
+{"uid":"6749316610193276951","text":"\u003ctask:success:discrete:False\u003e\ndrop the plastic wrap in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. Q: immediate next step? \u003cPRED\u003eA: drop the plastic wrap in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the plastic wrap in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. last 20 steps: 1- pick a plastic wrap 2- pick up the plastic wraps 3- move your arm towards the plastic wraps Q: immediate next step? \u003cPRED\u003eA: drop the plastic wrap in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. last 20 steps: 1- pick a plastic wrap 2- pick up the plastic wraps 3- move your arm towards the plastic wraps Q: next 5 steps? \u003cPRED\u003eA: 1- drop the plastic wrap in the bin 2- pick a plastic wrap 3- pick up a plastic wrap 4- release the plastic wrap 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the plastic wrap 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the plastic wrap in the bin\n\u003c/PRED\u003e","video":"1574623748387904270.mp4"}
+{"uid":"5976734499637585277","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a plastic wrap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a plastic wrap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. last 20 steps: 1- pick a plastic wrap 2- pick up the plastic wraps 3- move your arm towards the plastic wraps 4- move your arm towards the bin 5- drop the plastic wrap in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- pick a plastic wrap 2- pick up a plastic wrap 3- release the plastic wrap 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. last 20 steps: 1- pick a plastic wrap 2- pick up the plastic wraps 3- move your arm towards the plastic wraps 4- move your arm towards the bin 5- drop the plastic wrap in the bin Q: immediate next step? \u003cPRED\u003eA: pick a plastic wrap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a plastic 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:discriminative:discrete:True\u003e\npick a plastic 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:planning:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. Q: immediate next step? \u003cPRED\u003eA: pick a plastic wrap\n\u003c/PRED\u003e","video":"14089208960854800547.mp4"}
+{"uid":"11277063245742295529","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":"11050436449841890939.mp4"}
+{"uid":"16284680835805699502","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm close to the orange 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":"2929541042095106796.mp4"}
+{"uid":"13530879071411010644","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput brown bowl on the napkin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17513721352985482295.mp4"}
+{"uid":"3908193462368240383","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up a plastic wrap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. Q: immediate next step? \u003cPRED\u003eA: pick up a plastic wrap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. last 20 steps: 1- pick a plastic wrap 2- pick up the plastic wraps 3- move your arm towards the plastic wraps 4- move your arm towards the bin 5- drop the plastic wrap in the bin 6- move your arm close to the plastic wraps 7- pick a plastic wrap Q: immediate next step? \u003cPRED\u003eA: pick up a plastic wrap\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up a plastic wrap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up a plastic 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 a plastic 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. last 20 steps: 1- pick a plastic wrap 2- pick up the plastic wraps 3- move your arm towards the plastic wraps 4- move your arm towards the bin 5- drop the plastic wrap in the bin 6- move your arm close to the plastic wraps 7- pick a plastic wrap Q: next 5 steps? \u003cPRED\u003eA: 1- pick up a plastic wrap 2- done\n\u003c/PRED\u003e","video":"8709965880178402930.mp4"}
+{"uid":"7286250349141112607","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk. last 20 steps: 1- open the drawer 2- place popcorn packet on the table 3- close the drawer 4- place popcorn 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: i am hungry can you get me a popcorn chips from Mk kitchen to my desk. last 20 steps: 1- open the drawer 2- place popcorn packet on the table 3- close the drawer 4- place popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14802084235372506062.mp4"}
+{"uid":"9146797691534340709","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen into the pen case Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15779005513217488871.mp4"}
+{"uid":"2673869596843909748","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- Put the packet on the table 2- Put the packet on the table 3- Put the packet on the table 4- Put the packet on the table 5- Put the packet on the table 6- Put the packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the packet on the table\n\u003c/PRED\u003e","video":"5989369630294537353.mp4"}
+{"uid":"9783484577833889915","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk. last 20 steps: 1- open the drawer 2- place popcorn 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: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: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: i am hungry can you get me a popcorn chips from Mk kitchen to my desk. last 20 steps: 1- open the drawer 2- place popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- place popcorn packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i am hungry can you get me a popcorn chips from Mk kitchen to my desk Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"8512896267628194885.mp4"}
+{"uid":"1641488143708836854","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. last 20 steps: 1- pick a plastic wrap 2- pick up the plastic wraps Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm towards the plastic wraps 2- drop the plastic wrap in the bin 3- move your arm close to the plastic wraps 4- pick a plastic wrap 5- pick up a plastic wrap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm towards the plastic wraps Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 loose plastic wrappers from the box into the recycle bin. last 20 steps: 1- pick a plastic wrap 2- pick up the plastic wraps Q: immediate next step? \u003cPRED\u003eA: move your arm towards the plastic wraps\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. Q: immediate next step? \u003cPRED\u003eA: move your arm towards the plastic wraps\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm towards the plastic wraps\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm towards the plastic wraps Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 plastic wraps\n\u003c/PRED\u003e","video":"10762127040569966688.mp4"}
+{"uid":"4320741403507230304","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace snacks 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":"1584630777244260077.mp4"}
+{"uid":"1720322487064218675","text":"\u003ctask:success:discrete:True\u003e\nmove your arm close to the plastic wraps Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 plastic wraps\n\u003c/PRED\u003e","video":"4488979968225612691.mp4"}
+{"uid":"3515513249734939170","text":"\u003ctask:success:discrete:False\u003e\npick a plastic 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 a plastic wrap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a plastic 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick a plastic wrap\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. Q: immediate next step? \u003cPRED\u003eA: pick a plastic wrap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic wrappers from the box into the recycle bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick a plastic wrap 2- pick up the plastic wraps 3- move your arm towards the plastic wraps 4- move your arm towards the bin 5- drop the plastic wrap in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a plastic wrap\n\u003c/PRED\u003e","video":"8031281081928898983.mp4"}
+{"uid":"11449931473390104597","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":"10734388791074284263.mp4"}
+{"uid":"5462878197503375539","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6355410055969078939.mp4"}
+{"uid":"2165177561295776949","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \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 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: please put the fruits into the bowl. last 20 steps: 1- place the orange in the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place the orange in the bowl 3- place the orange in the bowl 4- place the apple in the bowl 5- place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \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:success:discrete:True\u003e\nplace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13459038147000148464.mp4"}
+{"uid":"9810366074384201918","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place the orange in the bowl 2- place the apple in the bowl 3- place the orange in the bowl 4- place the orange in the bowl 5- place the apple in the bowl 6- place the orange in the bowl 7- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the grapes in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: place the grapes in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the grapes 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 grapes in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the grapes 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 put the fruits into the bowl. last 20 steps: 1- place the orange in the bowl 2- place the apple in the bowl 3- place the orange in the bowl 4- place the orange in the bowl 5- place the apple in the bowl 6- place the orange in the bowl 7- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the grapes 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 grapes in the bowl\n\u003c/PRED\u003e","video":"9467871377764716561.mp4"}
+{"uid":"9092538462373945522","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":"12292530080548915805.mp4"}
+{"uid":"1727503841849440067","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the fridge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: . last 20 steps: 1- Pick up the disinfectant pump 2- Put the disinfectant pump on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Open the fridge 2- Pick up the bottle 3- Put 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: Open the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance: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:planning:freeform\u003e\ncurrent goal is:  Q: immediate next step? \u003cPRED\u003eA: Open the fridge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: . last 20 steps: 1- Pick up the disinfectant pump 2- Put the disinfectant pump on the table Q: immediate next step? \u003cPRED\u003eA: Open the fridge\n\u003c/PRED\u003e","video":"15523033175674575518.mp4"}
+{"uid":"14310190029818170344","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":"4166723601044642184.mp4"}
+{"uid":"16997023900909285269","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut an 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":"5312972054514230642.mp4"}
+{"uid":"17022019493583833579","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the green candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8041524462454730518.mp4"}
+{"uid":"11483457983166619709","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place the orange in the bowl 2- place the apple in the bowl 3- place the orange in the bowl 4- place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place the orange in the bowl 3- place the apple in the bowl 4- place the grapes 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 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place the orange in the bowl 2- place the apple in the bowl 3- place the orange in the bowl 4- place the orange in the bowl Q: immediate next step? \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:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"5440429558738940539.mp4"}
+{"uid":"4984111244523256332","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place the orange in the bowl 2- place the apple in the bowl 3- place the orange in the bowl 4- place the orange in the bowl 5- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange in the bowl 2- place the apple in the bowl 3- place the grapes in the bowl 4- place the banana in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place the orange in the bowl 2- place the apple in the bowl 3- place the orange in the bowl 4- place the orange in the bowl 5- place the apple in the bowl 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:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e","video":"14001510763834899289.mp4"}
+{"uid":"2794015089501607263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13120695937852575393.mp4"}
+{"uid":"17097935652972907505","text":"\u003ctask:success:discrete:True\u003e\nplace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e","video":"5072605796351123884.mp4"}
+{"uid":"16227618665528807208","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":"7228451195030327754.mp4"}
+{"uid":"9995936830265525846","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bottle on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: . last 20 steps: 1- Pick up the disinfectant pump 2- Put the disinfectant pump on the table 3- Open the fridge 4- Pick up the bottle Q: immediate next step? \u003cPRED\u003eA: Put the bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: . last 20 steps: 1- Pick up the disinfectant pump 2- Put the disinfectant pump on the table 3- Open the fridge 4- Pick up the bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bottle on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is:  Q: immediate next step? \u003cPRED\u003eA: Put the bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bottle on the table\n\u003c/PRED\u003e","video":"3381013340956314978.mp4"}
+{"uid":"7190037467873313620","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: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 put the fruits into 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 put the fruits into the bowl. last 20 steps: 1- place the orange in the bowl 2- place the apple in the bowl 3- place the orange in the bowl 4- place the orange in the bowl 5- place the apple in the bowl 6- place the orange in the bowl 7- place the apple in the bowl 8- place the grapes in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 put the fruits into the bowl. last 20 steps: 1- place the orange in the bowl 2- place the apple in the bowl 3- place the orange in the bowl 4- place the orange in the bowl 5- place the apple in the bowl 6- place the orange in the bowl 7- place the apple in the bowl 8- place the grapes in the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e","video":"18337075864286348675.mp4"}
+{"uid":"2018817871601335694","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":"1759877089553439495.mp4"}
+{"uid":"14749842179838252977","text":"\u003ctask:success:discrete:True\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"17523021875955979472.mp4"}
+{"uid":"1988880965271262519","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the grapes in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the grapes 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":"8297676699465269431.mp4"}
+{"uid":"14158728565276456106","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the bottle\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: . last 20 steps: 1- Pick up the disinfectant pump 2- Put the disinfectant pump on the table 3- Open the fridge Q: immediate next step? \u003cPRED\u003eA: Pick up the bottle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is:  Q: immediate next step? \u003cPRED\u003eA: Pick up the bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: . last 20 steps: 1- Pick up the disinfectant pump 2- Put the disinfectant pump on the table 3- Open the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the bottle 2- Put the bottle on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: 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":"14163348949097182780.mp4"}
+{"uid":"13969955036619259209","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13678586220095678919.mp4"}
+{"uid":"4503037041155888024","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"6984478154828310950.mp4"}
+{"uid":"13610149555931092360","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place the orange in the bowl 2- place the apple in the bowl 3- place the orange in the bowl 4- place the orange in the bowl 5- place the apple in the bowl 6- place the orange in the bowl 7- place the apple in the bowl 8- place the grapes in the bowl 9- place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: done\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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place the orange in the bowl 2- place the apple in the bowl 3- place the orange in the bowl 4- place the orange in the bowl 5- place the apple in the bowl 6- place the orange in the bowl 7- place the apple in the bowl 8- place the grapes in the bowl 9- place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e","video":"2612894134215471439.mp4"}
+{"uid":"4735498389552399949","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:planning:freeform\u003e\ncurrent goal is: please put the fruits into 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: please put the fruits into the bowl. last 20 steps: 1- place the orange in the bowl 2- place the apple in the bowl 3- place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange in the bowl 2- place the apple in the bowl 3- place the orange in the bowl 4- place the apple in the bowl 5- place the grapes 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place the orange in the bowl 2- place the apple in the bowl 3- place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e","video":"7978016892894078685.mp4"}
+{"uid":"9531481702029909601","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"16320794952739950983.mp4"}
+{"uid":"6160723740708788367","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the disinfectant pump on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: . last 20 steps: 1- Pick up the disinfectant pump Q: next 5 steps? \u003cPRED\u003eA: 1- Put the disinfectant pump on the table 2- Open the fridge 3- Pick up the bottle 4- Put the bottle on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the disinfectant pump on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is:  Q: immediate next step? \u003cPRED\u003eA: Put the disinfectant pump on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: . last 20 steps: 1- Pick up the disinfectant pump Q: immediate next step? \u003cPRED\u003eA: Put the disinfectant pump on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the disinfectant pump on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the disinfectant pump on the table\n\u003c/PRED\u003e","video":"2400918450289366871.mp4"}
+{"uid":"13570395488312574114","text":"\u003ctask:success:discrete:False\u003e\nplace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange in the bowl 2- place the apple in the bowl 3- place the orange in the bowl 4- place the orange in the bowl 5- place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e","video":"16390192001967355849.mp4"}
+{"uid":"14042215444983339024","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl 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: please put the fruits into the bowl. last 20 steps: 1- place the orange in the bowl 2- place the apple in the bowl 3- place the orange in the bowl 4- place the orange in the bowl 5- place the apple in the bowl 6- place the orange in the bowl Q: immediate next step? \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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place the orange in the bowl 2- place the apple in the bowl 3- place the orange in the bowl 4- place the orange in the bowl 5- place the apple in the bowl 6- place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place the grapes 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 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","video":"1545327071539635659.mp4"}
+{"uid":"18035059787390881783","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- place the orange in the bowl 2- place the apple 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: please put the fruits into 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: please put the fruits into the bowl. last 20 steps: 1- place the orange in the bowl 2- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange in the bowl 2- place the orange in the bowl 3- place the apple in the bowl 4- place the orange 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: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8613771393189606901.mp4"}
+{"uid":"9716985127508858092","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":"2696341749184190649.mp4"}
+{"uid":"17947007664739172884","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8464454449338991534.mp4"}
+{"uid":"13739098742235514367","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow 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":"10874696917840498295.mp4"}
+{"uid":"6876531704515403678","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":"2467610046193003279.mp4"}
+{"uid":"11723255398215424053","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput small 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":"6785960399013853341.mp4"}
+{"uid":"7559386260244024308","text":"\u003ctask:success:discrete:True\u003e\nplace the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"16505069249206715042.mp4"}
+{"uid":"10379287446453555461","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace an apple inside 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":"11046598059438596473.mp4"}
+{"uid":"4278536237490961758","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16819051596686557838.mp4"}
+{"uid":"2153050390885605011","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"5266679192733031146.mp4"}
+{"uid":"5594292966606414585","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the strawberry on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6129295938241859326.mp4"}
+{"uid":"7769147863562611452","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK Q: immediate next step? \u003cPRED\u003eA: Place paper inside the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace paper inside the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace paper inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK. last 20 steps: 1- Place the bowl at the center of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place paper inside the bowl 2- Place an apple inside the bowl 3- Place an apple inside the bowl 4- Place an apple inside the bowl 5- Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place paper inside the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place paper inside the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK. last 20 steps: 1- Place the bowl at the center of the table Q: immediate next step? \u003cPRED\u003eA: Place paper inside the bowl\n\u003c/PRED\u003e","video":"3768112869068767454.mp4"}
+{"uid":"5861361716192501534","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk?. last 20 steps: 1- put the coca cola can on the table 2- close the door of the freezer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk?. last 20 steps: 1- put the coca cola can on the table 2- close the door of the freezer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the door of the freezer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the door of the freezer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14104586589312619165.mp4"}
+{"uid":"14675341240896099464","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the refrigerator door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen the refrigerator door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8913725557828458850.mp4"}
+{"uid":"9874537270497845159","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the yellow 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":"6530328198974230066.mp4"}
+{"uid":"3206561507531113954","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":"4474278797337507653.mp4"}
+{"uid":"1851335986047370889","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the coca cola can on the table 2- close the fridge door 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the coca cola can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the coca cola can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk? Q: immediate next step? \u003cPRED\u003eA: put the coca cola can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the coca cola can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the coca cola 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: Can you get me a coke and put it on my desk?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the coca cola can on the table\n\u003c/PRED\u003e","video":"17878866955822313131.mp4"}
+{"uid":"4618230282923269739","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk?. last 20 steps: 1- put the coca cola can on the table 2- close the fridge door Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the fridge door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the fridge door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk?. last 20 steps: 1- put the coca cola can on the table 2- close the fridge door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14041376129526348854.mp4"}
+{"uid":"4000675282386779885","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12601657758909113311.mp4"}
+{"uid":"13609948651761742335","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"18164932370696346512.mp4"}
+{"uid":"2255371842798309780","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the bowl at the center of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the bowl at the center of the table 2- Place paper inside the bowl 3- Place an apple inside the bowl 4- Place an apple inside the bowl 5- Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the bowl at 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the bowl at the center of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the bowl at the center of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the bowl at 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:planning:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK Q: immediate next step? \u003cPRED\u003eA: Place the bowl at the center of the table\n\u003c/PRED\u003e","video":"12238447231353808311.mp4"}
+{"uid":"14930000698953700892","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk?. last 20 steps: 1- put the coca cola can on the table 2- Close the refrigerator door Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the refrigerator door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the refrigerator door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk?. last 20 steps: 1- put the coca cola can on the table 2- Close the refrigerator door Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11286499647380122106.mp4"}
+{"uid":"13356300398861350888","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK. last 20 steps: 1- Place the bowl at the center of the table 2- Place paper inside the bowl 3- Place an apple inside the bowl 4- Place an apple inside the bowl 5- Place an apple inside the bowl 6- Place an apple inside the bowl 7- Place an apple inside the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK. last 20 steps: 1- Place the bowl at the center of the table 2- Place paper inside the bowl 3- Place an apple inside the bowl 4- Place an apple inside the bowl 5- Place an apple inside the bowl 6- Place an apple inside the bowl 7- Place an apple inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple inside the bowl 2- Place the bowl forward 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an apple inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e","video":"15175383940879698150.mp4"}
+{"uid":"10714323359921232337","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the coke can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the coke can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12979436430144203564.mp4"}
+{"uid":"3096024617915252204","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the freezer door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the freezer door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5211199294780522467.mp4"}
+{"uid":"652793565612852364","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the coke can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the coke can on the table 2- close the fridge door 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the coke can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the coke 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: Can you get me a coke and put it on my desk? Q: immediate next step? \u003cPRED\u003eA: Place the coke can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the coke can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the coke 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":"3653918080204558502.mp4"}
+{"uid":"427311701739635659","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK. last 20 steps: 1- Place the bowl at the center of the table 2- Place paper inside the bowl 3- Place an apple inside the bowl 4- Place an apple inside the bowl 5- Place an apple inside the bowl 6- Place an apple inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple inside the bowl 2- Place an apple inside the bowl 3- Place the bowl forward 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an apple inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK. last 20 steps: 1- Place the bowl at the center of the table 2- Place paper inside the bowl 3- Place an apple inside the bowl 4- Place an apple inside the bowl 5- Place an apple inside the bowl 6- Place an apple inside the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e","video":"16583092453330434372.mp4"}
+{"uid":"11607499520048850787","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK. last 20 steps: 1- Place the bowl at the center of the table 2- Place paper inside the bowl 3- Place an apple inside the bowl 4- Place an apple inside the bowl 5- Place an apple inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple inside the bowl 2- Place an apple inside the bowl 3- Place an apple inside the bowl 4- Place the bowl forward 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an apple inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK. last 20 steps: 1- Place the bowl at the center of the table 2- Place paper inside the bowl 3- Place an apple inside the bowl 4- Place an apple inside the bowl 5- Place an apple inside the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e","video":"4951158213896041999.mp4"}
+{"uid":"15738039237316712099","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep 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":"2507862637532457954.mp4"}
+{"uid":"10637592682287069494","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue pen in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6254470171953840746.mp4"}
+{"uid":"11588894555861323758","text":"\u003ctask:success:discrete:True\u003e\nPlace an apple inside 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 an apple inside the bowl\n\u003c/PRED\u003e","video":"2889378294818059714.mp4"}
+{"uid":"17414900984621285057","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the bowl at the center of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the bowl at the center 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":"2074332586994095322.mp4"}
+{"uid":"954394520824542892","text":"\u003ctask:success:discrete:True\u003e\nPlace an apple inside 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 an apple inside the bowl\n\u003c/PRED\u003e","video":"12343618245658097962.mp4"}
+{"uid":"2918785097420999561","text":"\u003ctask:success:discrete:True\u003e\nPlace an apple inside 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 an apple inside the bowl\n\u003c/PRED\u003e","video":"1732339151979769033.mp4"}
+{"uid":"1071541167115079646","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":"7924251189287075567.mp4"}
+{"uid":"10985803615706868780","text":"\u003ctask:success:discrete:True\u003e\nPlace an apple inside 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 an apple inside the bowl\n\u003c/PRED\u003e","video":"1416812382144807605.mp4"}
+{"uid":"12894290437163936591","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the black date 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":"11597252312766467949.mp4"}
+{"uid":"17206536465681830539","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an apple inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK. last 20 steps: 1- Place the bowl at the center of the table 2- Place paper inside the bowl 3- Place an apple inside the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK. last 20 steps: 1- Place the bowl at the center of the table 2- Place paper inside the bowl 3- Place an apple inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple inside the bowl 2- Place an apple inside the bowl 3- Place an apple inside the bowl 4- Place an apple inside the bowl 5- Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e","video":"35739220261383705.mp4"}
+{"uid":"888294756470660377","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the 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":"1081470538260222174.mp4"}
+{"uid":"13466333343147980752","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":"12999977257006229691.mp4"}
+{"uid":"2983164349858338370","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the refrigerator door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk?. last 20 steps: 1- put the coca cola can on the table Q: immediate next step? \u003cPRED\u003eA: Close the refrigerator door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk? Q: immediate next step? \u003cPRED\u003eA: Close the refrigerator door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the refrigerator door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the refrigerator door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the refrigerator door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk?. last 20 steps: 1- put the coca cola can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Close the refrigerator door 2- done\n\u003c/PRED\u003e","video":"6216302967467286523.mp4"}
+{"uid":"17362185936762588074","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the freezer door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the freezer door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the freezer door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the freezer door 2- close the fridge door 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the freezer door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the freezer door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk? Q: immediate next step? \u003cPRED\u003eA: open the freezer door\n\u003c/PRED\u003e","video":"17483931026899923885.mp4"}
+{"uid":"10128066156246054846","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK. last 20 steps: 1- Place the bowl at the center of the table 2- Place paper inside the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK. last 20 steps: 1- Place the bowl at the center of the table 2- Place paper inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple inside the bowl 2- Place an apple inside the bowl 3- Place an apple inside the bowl 4- Place an apple inside the bowl 5- Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace an apple inside the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an apple inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11798165134206648139.mp4"}
+{"uid":"14990215624606852747","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":"3628464089002491889.mp4"}
+{"uid":"665274471170144310","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the refrigerator door 2- close the fridge door 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk? Q: immediate next step? \u003cPRED\u003eA: Open the refrigerator door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the refrigerator door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the refrigerator door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the refrigerator door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the refrigerator door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the refrigerator door\n\u003c/PRED\u003e","video":"15804484510581434168.mp4"}
+{"uid":"8738596787394410936","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the bowl forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK. last 20 steps: 1- Place the bowl at the center of the table 2- Place paper inside the bowl 3- Place an apple inside the bowl 4- Place an apple inside the bowl 5- Place an apple inside the bowl 6- Place an apple inside the bowl 7- Place an apple inside the bowl 8- Place an apple inside the bowl Q: immediate next step? \u003cPRED\u003eA: Place the bowl forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the bowl 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 refill the bowl with new apples in the MK. last 20 steps: 1- Place the bowl at the center of the table 2- Place paper inside the bowl 3- Place an apple inside the bowl 4- Place an apple inside the bowl 5- Place an apple inside the bowl 6- Place an apple inside the bowl 7- Place an apple inside the bowl 8- Place an apple inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the bowl forward 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the bowl 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:planning:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK Q: immediate next step? \u003cPRED\u003eA: Place the bowl forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the bowl forward\n\u003c/PRED\u003e","video":"2014294837534731112.mp4"}
+{"uid":"18030109532273825567","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the coca cola can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the coca cola can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3899678551516278836.mp4"}
+{"uid":"6750823562730864166","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace an apple inside 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":"7279442055209991963.mp4"}
+{"uid":"11756182504366165269","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK. last 20 steps: 1- Place the bowl at the center of the table 2- Place paper inside the bowl 3- Place an apple inside the bowl 4- Place an apple inside the bowl Q: immediate next step? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please refill the bowl with new apples in the MK. last 20 steps: 1- Place the bowl at the center of the table 2- Place paper inside the bowl 3- Place an apple inside the bowl 4- Place an apple inside the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place an apple inside the bowl 2- Place an apple inside the bowl 3- Place an apple inside the bowl 4- Place an apple inside the bowl 5- Place the bowl forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place an apple inside the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace an apple inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16051146377584666744.mp4"}
+{"uid":"18061315622931272646","text":"\u003ctask:success:discrete:True\u003e\nPlace the coke 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 coke can on the table\n\u003c/PRED\u003e","video":"16678142913113053413.mp4"}
+{"uid":"14050122306972360291","text":"\u003ctask:success:discrete:False\u003e\nplace the coke can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the coke can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk? Q: immediate next step? \u003cPRED\u003eA: place the coke 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 coke can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the coke 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: Can you get me a coke and put it on my desk?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the coke can on the table 2- close the fridge door 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the coke can on the table\n\u003c/PRED\u003e","video":"9294218365909897873.mp4"}
+{"uid":"7511759284100961154","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":"4772368529852179940.mp4"}
+{"uid":"1993176566470746953","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk?. last 20 steps: 1- put the coca cola can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the fridge door 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk?. last 20 steps: 1- put the coca cola can on the table Q: immediate next step? \u003cPRED\u003eA: close the fridge door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the fridge door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the fridge door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the fridge door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the fridge door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk? Q: immediate next step? \u003cPRED\u003eA: close the fridge door\n\u003c/PRED\u003e","video":"417657077750682429.mp4"}
+{"uid":"1411006428075931659","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk?. last 20 steps: 1- put the coca cola can on the table Q: immediate next step? \u003cPRED\u003eA: close the door of the freezer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the door of the freezer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the door of the freezer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you get me a coke and put it on my desk? Q: immediate next step? \u003cPRED\u003eA: close the door of the freezer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the door of the freezer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the door of the freezer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 get me a coke and put it on my desk?. last 20 steps: 1- put the coca cola can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the door of the freezer 2- done\n\u003c/PRED\u003e","video":"16704013384385875811.mp4"}
+{"uid":"11337333457047450968","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":"14136211732004081006.mp4"}
+{"uid":"12463013853329104299","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the red 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":"10559206368859046149.mp4"}
+{"uid":"4972735228246601729","text":"\u003ctask:success:discrete:True\u003e\nPlace paper inside 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 paper inside the bowl\n\u003c/PRED\u003e","video":"5883989455664437079.mp4"}
+{"uid":"4556755092430775607","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9003509941346619240.mp4"}
+{"uid":"4070412606718516789","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. 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 packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. 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","video":"9391016957318627879.mp4"}
+{"uid":"6721931579848680818","text":"\u003ctask:success:discrete:True\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"6852219901648218590.mp4"}
+{"uid":"12856101335878703849","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red 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 red packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray . last 20 steps: 1- Place the orange packet in the tray 2- Place the orange packet in the tray 3- Place the orange packet in the tray 4- Place the orange packet in the tray 5- Place the red packet in the tray 6- Place the red packet in the tray 7- Place the red packet in the tray 8- Place the red packet in the tray 9- Place the red packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red 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: Place the red packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray Q: immediate next step? \u003cPRED\u003eA: Place the red packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray . last 20 steps: 1- Place the orange packet in the tray 2- Place the orange packet in the tray 3- Place the orange packet in the tray 4- Place the orange packet in the tray 5- Place the red packet in the tray 6- Place the red packet in the tray 7- Place the red packet in the tray 8- Place the red packet in the tray 9- Place the red packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the red packet in the tray\n\u003c/PRED\u003e","video":"14112827639307839330.mp4"}
+{"uid":"7516826952320339654","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- put can on the table 5- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can on the table 2- place red bull can on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace red bull 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 cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- put can on the table 5- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4356004791490904710.mp4"}
+{"uid":"7583353679402572692","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- put can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull 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: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 cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull 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 cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"9836585176156786025.mp4"}
+{"uid":"15627671385305541015","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a highlighter in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2506244205533616894.mp4"}
+{"uid":"14430337929818261403","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. 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: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 out oatmeal from the rack. 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 packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack 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","video":"13979156126817924843.mp4"}
+{"uid":"659019479629841473","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop toffee 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":"9793674612003162876.mp4"}
+{"uid":"8822257010734112934","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray Q: immediate next step? \u003cPRED\u003eA: Place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray . last 20 steps: 1- Place the orange packet in the tray 2- Place the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange packet in the tray 2- Place the red packet in the tray 3- Place the red packet in the tray 4- Place the red packet in the tray 5- Place the red packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray . last 20 steps: 1- Place the orange packet in the tray 2- Place the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the orange packet in the tray\n\u003c/PRED\u003e","video":"5446047157496181691.mp4"}
+{"uid":"9798693807154676645","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- place red bull can on the table 3- place red bull can on the table 4- put can on the table 5- place red bull can on the table\n\u003c/PRED\u003e","video":"3128605486650587526.mp4"}
+{"uid":"9183490084265750388","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- put can on the table 5- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- place red bull can on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- put can on the table 5- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14410593813400000969.mp4"}
+{"uid":"2365162730061067540","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":"11706947209578763423.mp4"}
+{"uid":"12778850185158764948","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"16795211391511953554.mp4"}
+{"uid":"16030645173564363139","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut orange packet in the paper glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12440710059200697490.mp4"}
+{"uid":"13003757363164374866","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray Q: immediate next step? \u003cPRED\u003eA: Place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray . last 20 steps: 1- Place the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange packet in the tray 2- Place the orange packet in the tray 3- Place the orange packet in the tray 4- Place the red packet in the tray 5- Place the red packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray . last 20 steps: 1- Place the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the orange packet in the tray\n\u003c/PRED\u003e","video":"8120009080103226719.mp4"}
+{"uid":"15948373940536795471","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput redbull can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14364267885453843354.mp4"}
+{"uid":"8939249772986839015","text":"\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: Take out oatmeal from the rack 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: Take out oatmeal from the rack. 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 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 out oatmeal from the rack. 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 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- done\n\u003c/PRED\u003e","video":"6911699617265688164.mp4"}
+{"uid":"3212586479312048588","text":"\u003ctask:success:discrete:True\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"5957550553940346865.mp4"}
+{"uid":"7677263999771803238","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":"2421980161927748243.mp4"}
+{"uid":"5849344269838766972","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":"3167803620847770097.mp4"}
+{"uid":"961531844782656663","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- put can on the table 5- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- place red bull can on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- put can on the table 5- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e","video":"13258200988157242518.mp4"}
+{"uid":"14011595413951607987","text":"\u003ctask:success:discrete:True\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"16057393575431501397.mp4"}
+{"uid":"3487987508200117283","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray Q: immediate next step? \u003cPRED\u003eA: Place the red 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 red packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red 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 the chocolates in the white tray . last 20 steps: 1- Place the orange packet in the tray 2- Place the orange packet in the tray 3- Place the orange packet in the tray 4- Place the orange packet in the tray 5- Place the red packet in the tray 6- Place the red packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the red packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray . last 20 steps: 1- Place the orange packet in the tray 2- Place the orange packet in the tray 3- Place the orange packet in the tray 4- Place the orange packet in the tray 5- Place the red packet in the tray 6- Place the red packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red packet in the tray 2- Place the red packet in the tray 3- Place the red packet in the tray 4- Place the red packet in the tray 5- done\n\u003c/PRED\u003e","video":"6457055841253391005.mp4"}
+{"uid":"11870580374554800188","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. 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: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: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 out oatmeal from the rack 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: Take out oatmeal from the rack. last 20 steps: none 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","video":"1000976898538288712.mp4"}
+{"uid":"6976875630609808735","text":"\u003ctask:success:discrete:True\u003e\nPlace the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the orange packet in the tray\n\u003c/PRED\u003e","video":"11992646219859502537.mp4"}
+{"uid":"3882842750183871838","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- put can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13691112607696793643.mp4"}
+{"uid":"12495392627562298108","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- put can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull 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 redbull can on table\n\u003c/PRED\u003e","video":"17345023600796233268.mp4"}
+{"uid":"11929380272637761539","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chocolate balls in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2929844770454112582.mp4"}
+{"uid":"580348505866596446","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14187956402604161876.mp4"}
+{"uid":"9952573334406058892","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 out oatmeal from the rack. 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: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 out oatmeal from the rack. 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 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:planning:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"5500146102431657510.mp4"}
+{"uid":"13588151415222809431","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the cup to left side on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5586470442127320271.mp4"}
+{"uid":"15838836693169473705","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove your arm close to a 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":"12686594915521040544.mp4"}
+{"uid":"3080747568003988854","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":"4409789443603685785.mp4"}
+{"uid":"7021743268065741379","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. 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 packet on the table 7- 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: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 out oatmeal from the rack. 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 packet on the table 7- 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- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack 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","video":"9840709038045440544.mp4"}
+{"uid":"3586821672323709315","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray . last 20 steps: 1- Place the orange packet in the tray 2- Place the orange packet in the tray 3- Place the orange packet in the tray 4- Place the orange packet in the tray 5- Place the red packet in the tray 6- Place the red packet in the tray 7- Place the red packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red packet in the tray 2- Place the red packet in the tray 3- Place the red 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: Place the red packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray . last 20 steps: 1- Place the orange packet in the tray 2- Place the orange packet in the tray 3- Place the orange packet in the tray 4- Place the orange packet in the tray 5- Place the red packet in the tray 6- Place the red packet in the tray 7- Place the red packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the red packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red 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: Put the chocolates in the white tray Q: immediate next step? \u003cPRED\u003eA: Place the red packet in the tray\n\u003c/PRED\u003e","video":"15868368282707527628.mp4"}
+{"uid":"14005549475641310482","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can on the table 2- place red bull can on the table 3- put can on the table 4- place red bull can on the table 5- place red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace red bull 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":"12608559261782110660.mp4"}
+{"uid":"1824525497986565667","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":"7801096611581612555.mp4"}
+{"uid":"4939589799039193953","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":"15266288456905309250.mp4"}
+{"uid":"15718383837001846697","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 out oatmeal from the rack. 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 packet on the table 7- place the packet on the table 8- 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:planning:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack 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 out oatmeal from the rack. 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 packet on the table 7- place the packet on the table 8- 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- done\n\u003c/PRED\u003e","video":"2480180751201420460.mp4"}
+{"uid":"7506010951342470440","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. 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 packet on the table 7- place the packet on the table 8- place the packet on the table 9- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet 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 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. 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 packet on the table 7- place the packet on the table 8- place the packet on the table 9- 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 out oatmeal from the rack 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":"6371050456667359111.mp4"}
+{"uid":"7352142436463989172","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- put can on the table 5- place red bull can on the table 6- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- put can on the table 5- place red bull can on the table 6- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e","video":"9174142209595117219.mp4"}
+{"uid":"11106614511709415339","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray . last 20 steps: 1- Place the orange packet in the tray 2- Place the orange packet in the tray 3- Place the orange packet in the tray 4- Place the orange packet in the tray 5- Place the red packet in the tray 6- Place the red packet in the tray 7- Place the red packet in the tray 8- Place the red packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the red packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray . last 20 steps: 1- Place the orange packet in the tray 2- Place the orange packet in the tray 3- Place the orange packet in the tray 4- Place the orange packet in the tray 5- Place the red packet in the tray 6- Place the red packet in the tray 7- Place the red packet in the tray 8- Place the red packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red packet in the tray 2- Place the red packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red packet in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray Q: immediate next step? \u003cPRED\u003eA: Place the red packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red 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":"4863671255505517953.mp4"}
+{"uid":"2654797391818150458","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a 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":"4317945880103463413.mp4"}
+{"uid":"12160132047760752678","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue 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":"9251332238794591211.mp4"}
+{"uid":"5510878159639130819","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\norganize sticky note in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"632879930823480885.mp4"}
+{"uid":"3829004755095459325","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8063626344513372250.mp4"}
+{"uid":"14226688310135741532","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: remove 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\nplace red bull 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 cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- put can on the table 5- place red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: place red bull 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\nplace red bull 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 cans from the rack. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- place red bull can on the table 3- put can on the table 4- place red bull can on the table 5- place red bull 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\u003ctask:success:discrete:False\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: none 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 cans from the rack. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e","video":"7946403432494409862.mp4"}
+{"uid":"14907019355977589721","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narranging in a straight way Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7107409173948898137.mp4"}
+{"uid":"16759079246167737210","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":"16477052055023544109.mp4"}
+{"uid":"10791382559445938644","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":"8860318070710603847.mp4"}
+{"uid":"3588302301961956407","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove 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 cans from the rack. last 20 steps: 1- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- place red bull can on the table 3- put can on the table 4- place red bull can on the table 5- place red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"14097243101833185313.mp4"}
+{"uid":"3898309541300066698","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- done\n\u003c/PRED\u003e","video":"3574890987360951468.mp4"}
+{"uid":"13648302435445214703","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":"6459320990572829908.mp4"}
+{"uid":"8849297054991980320","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nthrow the tissue paper in the recycle bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13640943758129072043.mp4"}
+{"uid":"9351387236998421240","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":"4918891259015816289.mp4"}
+{"uid":"845581939773643556","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9009557117502239513.mp4"}
+{"uid":"2966447682806393493","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. 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 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:planning:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. 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","video":"16672551737141478426.mp4"}
+{"uid":"15785582958709837096","text":"\u003ctask:success:discrete:False\u003e\nplace red bull 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 cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- place red bull can on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace red bull 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":"16410660115383835834.mp4"}
+{"uid":"4120165719594835534","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tea 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":"7548298003711531482.mp4"}
+{"uid":"1559784438486896495","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"16650489586197617623.mp4"}
+{"uid":"797537717903254017","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace red bull 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 cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e","video":"7179328232704410334.mp4"}
+{"uid":"15583017330787531414","text":"\u003ctask:success:discrete:True\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"11712736330857124115.mp4"}
+{"uid":"142173446658453461","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- place red bull can on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- put can on the table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13999431221945399321.mp4"}
+{"uid":"17645298909631224719","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray . last 20 steps: 1- Place the orange packet in the tray 2- Place the orange packet in the tray 3- Place the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red packet in the tray 2- Place the red packet in the tray 3- Place the red packet in the tray 4- Place the red packet in the tray 5- Place the red packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray Q: immediate next step? \u003cPRED\u003eA: Place the red packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red 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 red packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the red 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 the chocolates in the white tray . last 20 steps: 1- Place the orange packet in the tray 2- Place the orange packet in the tray 3- Place the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the red 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 red packet in the tray\n\u003c/PRED\u003e","video":"1660995699364399570.mp4"}
+{"uid":"6045554977204909520","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":"10327674371642925798.mp4"}
+{"uid":"5605110064539392667","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray . last 20 steps: 1- Place the orange packet in the tray 2- Place the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray . last 20 steps: 1- Place the orange packet in the tray 2- Place the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange packet in the tray 2- Place the red packet in the tray 3- Place the red packet in the tray 4- Place the red packet in the tray 5- Place the red packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray Q: immediate next step? \u003cPRED\u003eA: Place the orange packet in the tray\n\u003c/PRED\u003e","video":"1218046491668497807.mp4"}
+{"uid":"14126999929020103422","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":"431127555116541067.mp4"}
+{"uid":"4719345805777918562","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. 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 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 out oatmeal from the rack 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: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 out oatmeal from the rack. 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 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","video":"4039698802019485863.mp4"}
+{"uid":"12928522382712679644","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: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 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- place red bull can on the table 3- place red bull can on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- put can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"1859011974321642992.mp4"}
+{"uid":"3638604818914807585","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2494631167619351417.mp4"}
+{"uid":"6293324408123575955","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace red bull 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 cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- put can on the table 5- place red bull can on the table 6- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- put can on the table 5- place red bull can on the table 6- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2584236299487545777.mp4"}
+{"uid":"16770956118402378605","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the small black colored 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":"9098234975968946087.mp4"}
+{"uid":"14218848766968102961","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":"11161262738729214807.mp4"}
+{"uid":"14274974064145652994","text":"\u003ctask:success:discrete:False\u003e\nPlace the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange packet in the tray 2- Place the orange packet in the tray 3- Place the orange packet in the tray 4- Place the orange packet in the tray 5- Place the red packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray Q: immediate next step? \u003cPRED\u003eA: Place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15115687023840925636.mp4"}
+{"uid":"2589983269923977628","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red 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 red packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray Q: immediate next step? \u003cPRED\u003eA: Place the red packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Put the chocolates in the white tray . last 20 steps: 1- Place the orange packet in the tray 2- Place the orange packet in the tray 3- Place the orange packet in the tray 4- Place the orange packet in the tray 5- Place the red packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the red packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red 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: Put the chocolates in the white tray . last 20 steps: 1- Place the orange packet in the tray 2- Place the orange packet in the tray 3- Place the orange packet in the tray 4- Place the orange packet in the tray 5- Place the red packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red packet in the tray 2- Place the red packet in the tray 3- Place the red packet in the tray 4- Place the red packet in the tray 5- Place the red packet in the tray\n\u003c/PRED\u003e","video":"1609441830437505074.mp4"}
+{"uid":"16979093700112357407","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the cold brew can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5176286105557371545.mp4"}
+{"uid":"12050070881479695488","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":"5677295270569801919.mp4"}
+{"uid":"8368030117419361982","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput redbull can on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can on table 2- place red bull can on the table 3- place red bull can on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: put redbull can on table\n\u003c/PRED\u003e","video":"17038323389115596489.mp4"}
+{"uid":"2922928149753476607","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"1433406212448902293.mp4"}
+{"uid":"1524740444382958200","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":"16015965987918494377.mp4"}
+{"uid":"14543731279850366058","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the plate 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":"15037462364186492841.mp4"}
+{"uid":"11679781709097118513","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove 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 cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- put can on the table 5- place red bull can on the table 6- place red bull 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 cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table 3- place red bull can on the table 4- put can on the table 5- place red bull can on the table 6- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"1480409706660204978.mp4"}
+{"uid":"9538750261948846787","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace red bull 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: remove cans from the rack Q: immediate next step? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace red bull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: remove cans from the rack. last 20 steps: 1- place red bull can on the table 2- place red bull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place red bull can on the table 2- put can on the table 3- place red bull can on the table 4- place red bull can on the table 5- place red bull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place red bull can on the table\n\u003c/PRED\u003e","video":"17653108279682222430.mp4"}
+{"uid":"15996597866860288349","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":"7564260779893652070.mp4"}
+{"uid":"9349732454709019989","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPickup a blue color packet kept on the table and place it in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11472227558855849891.mp4"}
+{"uid":"14829148768621209692","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":"1595685862449378738.mp4"}
+{"uid":"11923666479000370820","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the rold gold 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":"16591417365051073776.mp4"}
+{"uid":"10247340162559661026","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place the apple in the bowl 2- place the pear in the bowl 3- place the pear in the bowl 4- place the apple in the bowl 5- place the pear in the bowl 6- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place the apple in the bowl 2- place the pear in the bowl 3- place the pear in the bowl 4- place the apple in the bowl 5- place the pear in the bowl 6- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the pear in the bowl 2- place the pear in the bowl 3- place the apple 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 pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1160820573279623597.mp4"}
+{"uid":"12267981173412432878","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple 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":"9671535925147274529.mp4"}
+{"uid":"3625524891334673413","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":"14579675486824263041.mp4"}
+{"uid":"14224833027530563063","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the rold gold packet in the tray in a queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14658556803120038867.mp4"}
+{"uid":"10850472139819069074","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":"1217159099330159215.mp4"}
+{"uid":"13506320248372717902","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the banana on the plate Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13733309150028434340.mp4"}
+{"uid":"7156011862194865207","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"5422854310128122612.mp4"}
+{"uid":"1791777400244576732","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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place the apple in the bowl 2- place the pear in the bowl 3- place the pear in the bowl Q: immediate next step? \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: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:planning:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. 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: Place the fruits in the bowl. last 20 steps: 1- place the apple in the bowl 2- place the pear in the bowl 3- place the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place the pear in the bowl 3- place the apple in the bowl 4- place the pear in the bowl 5- place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"17938202860214156250.mp4"}
+{"uid":"967525369999201526","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place the apple in the bowl 2- place the pear in the bowl 3- place the pear in the bowl 4- place the apple in the bowl 5- place the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- place the pear in the bowl 3- place the pear in the bowl 4- place the apple in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. 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: Place the fruits in the bowl. last 20 steps: 1- place the apple in the bowl 2- place the pear in the bowl 3- place the pear in the bowl 4- place the apple in the bowl 5- place the pear in the bowl 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","video":"4338466940769274051.mp4"}
+{"uid":"6943989024765438848","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a white glass from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2693383809499358616.mp4"}
+{"uid":"12893701003511368373","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the green apple on the table 5- place the orange on the table 6- place the grapes on the table 7- place the orange on the table 8- place the apple on the table 9- place the apple on the table 10- place the cherries on the table 11- place the cherries on the table 12- place the cherries on the table 13- place the grapes on the table 14- place the grapes on the table 15- place the cherries on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cherries on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 cherries on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the green apple on the table 5- place the orange on the table 6- place the grapes on the table 7- place the orange on the table 8- place the apple on the table 9- place the apple on the table 10- place the cherries on the table 11- place the cherries on the table 12- place the cherries on the table 13- place the grapes on the table 14- place the grapes on the table 15- place the cherries on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"6573461996533734193.mp4"}
+{"uid":"15409163919636024162","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":"12555842661530376178.mp4"}
+{"uid":"13112673542369151224","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the orange 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":"13507600350728393469.mp4"}
+{"uid":"12210786195666768472","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cherries on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the green apple on the table 5- place the orange on the table 6- place the grapes on the table 7- place the orange on the table 8- place the apple on the table 9- place the apple on the table 10- place the cherries on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the cherries on the table 2- place the cherries on the table 3- place the grapes on the table 4- place the grapes on the table 5- place the cherries on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cherries on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: place the cherries on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cherries on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the green apple on the table 5- place the orange on the table 6- place the grapes on the table 7- place the orange on the table 8- place the apple on the table 9- place the apple on the table 10- place the cherries on the table Q: immediate next step? \u003cPRED\u003eA: place the cherries on the table\n\u003c/PRED\u003e","video":"15508278447391707621.mp4"}
+{"uid":"15114172164413731678","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please provide refreshments to employees Q: immediate next step? \u003cPRED\u003eA: Pick up the bottle\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please provide refreshments to employees . last 20 steps: 1- Open the door 2- Open the fridge 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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please provide refreshments to employees . last 20 steps: 1- Open the door 2- Open the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the bottle 2- Put the bottle on the table 3- done\n\u003c/PRED\u003e","video":"8316565701563818026.mp4"}
+{"uid":"14120215785780275767","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the green apple on the table 5- place the orange on the table 6- place the grapes on the table 7- place the orange on the table 8- place the apple on the table 9- place the apple on the table 10- place the cherries on the table 11- place the cherries on the table 12- place the cherries on the table 13- place the grapes on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the grapes on the table 2- place the cherries on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the green apple on the table 5- place the orange on the table 6- place the grapes on the table 7- place the orange on the table 8- place the apple on the table 9- place the apple on the table 10- place the cherries on the table 11- place the cherries on the table 12- place the cherries on the table 13- place the grapes on the table Q: immediate next step? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the grapes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7522025524070435355.mp4"}
+{"uid":"6933421804119912154","text":"\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: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 refreshments to employees . last 20 steps: 1- Open the door Q: immediate next step? \u003cPRED\u003eA: Open the fridge\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please provide refreshments to employees Q: immediate next step? \u003cPRED\u003eA: Open the fridge\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the fridge\n\u003c/PRED\u003e\u003ctask: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please provide refreshments to employees . last 20 steps: 1- Open the door Q: next 5 steps? \u003cPRED\u003eA: 1- Open the fridge 2- Pick up the bottle 3- Put the bottle on the table 4- done\n\u003c/PRED\u003e","video":"7467031536091247899.mp4"}
+{"uid":"15145441403528588155","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please provide refreshments to employees . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the door 2- Open the fridge 3- Pick up the bottle 4- Put the bottle on the table 5- done\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:planning:freeform\u003e\ncurrent goal is: Please provide refreshments to employees Q: immediate next step? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please provide refreshments to employees . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e","video":"6327123761836395881.mp4"}
+{"uid":"4488784945014143132","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the black 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":"8833068930391886035.mp4"}
+{"uid":"18091825195233241688","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the illy 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":"12882708656747666736.mp4"}
+{"uid":"16097654752692020602","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a tablet 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":"8547506689097995876.mp4"}
+{"uid":"698933625077997958","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the green apple on the table 5- place the orange on the table 6- place the grapes on the table 7- place the orange on the table 8- place the apple on the table 9- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the cherries on the table 2- place the cherries on the table 3- place the cherries on the table 4- place the grapes on the table 5- place the grapes on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cherries on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: place the cherries on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cherries on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the green apple on the table 5- place the orange on the table 6- place the grapes on the table 7- place the orange on the table 8- place the apple on the table 9- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: place the cherries on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cherries on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 cherries on the table\n\u003c/PRED\u003e","video":"16728060789044946570.mp4"}
+{"uid":"11859193583947148686","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1133331804391904655.mp4"}
+{"uid":"10677150020347118195","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please provide refreshments to employees Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the bottle on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please provide refreshments to employees . last 20 steps: 1- Open the door 2- Open the fridge 3- Pick up the bottle 4- Put the bottle on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please provide refreshments to employees . last 20 steps: 1- Open the door 2- Open the fridge 3- Pick up the bottle 4- Put the bottle on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the bottle on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9842349603857705870.mp4"}
+{"uid":"17047287702821165308","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the green apple on the table 5- place the orange 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: please take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: none Q: immediate next step? \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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"11049810925925300361.mp4"}
+{"uid":"6669001368002227030","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place the apple in the bowl 2- place the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the pear in the bowl 2- place the apple in the bowl 3- place the pear in the bowl 4- place the apple in the bowl 5- place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place the apple in the bowl 2- place the pear in the bowl Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e","video":"16986248317781584608.mp4"}
+{"uid":"15899191490324487539","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10346205997315708970.mp4"}
+{"uid":"1418516788716613293","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place the apple in the bowl 2- place the pear in the bowl 3- place the pear in the bowl 4- place the apple in the bowl 5- place the pear in the bowl 6- place the apple in the bowl 7- place the pear in the bowl Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place the apple in the bowl 2- place the pear in the bowl 3- place the pear in the bowl 4- place the apple in the bowl 5- place the pear in the bowl 6- place the apple in the bowl 7- place the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the pear in the bowl 2- place the apple in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12888475965513879719.mp4"}
+{"uid":"15849577705225834673","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the strainer on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2352686092112019806.mp4"}
+{"uid":"7613202287227632220","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange on the table 2- place the orange on the table 3- place the green apple on the table 4- place the orange on the table 5- place the grapes on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e","video":"12927185379611031292.mp4"}
+{"uid":"3178563361341034460","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown packet in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11703496558799032762.mp4"}
+{"uid":"1293613135122898942","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the green apple on the table 5- place the orange on the table 6- place the grapes on the table 7- place the orange on the table 8- place the apple on the table Q: immediate next step? \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: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: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the green apple on the table 5- place the orange on the table 6- place the grapes on the table 7- place the orange on the table 8- place the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place the cherries on the table 3- place the cherries on the table 4- place the cherries on the table 5- place the grapes 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: please take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e","video":"15134911516837450736.mp4"}
+{"uid":"3000992326050343161","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the green apple on the table 5- place the orange on the table 6- place the grapes on the table 7- place the orange on the table Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: place the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the green apple on the table 5- place the orange on the table 6- place the grapes on the table 7- place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple on the table 2- place the apple on the table 3- place the cherries on the table 4- place the cherries on the table 5- place the cherries on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18130897311794813027.mp4"}
+{"uid":"2056415130111981649","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the silver packet in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2628071174527528009.mp4"}
+{"uid":"10941066702060590730","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the green apple on the table 5- place the orange on the table 6- place the grapes on the table 7- place the orange on the table 8- place the apple on the table 9- place the apple on the table 10- place the cherries on the table 11- place the cherries on the table 12- place the cherries on the table 13- place the grapes on the table 14- place the grapes on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the cherries on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: place the cherries on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cherries on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 cherries on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cherries on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the green apple on the table 5- place the orange on the table 6- place the grapes on the table 7- place the orange on the table 8- place the apple on the table 9- place the apple on the table 10- place the cherries on the table 11- place the cherries on the table 12- place the cherries on the table 13- place the grapes on the table 14- place the grapes on the table Q: immediate next step? \u003cPRED\u003eA: place the cherries on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cherries on the table\n\u003c/PRED\u003e","video":"7232633778017327039.mp4"}
+{"uid":"4596469887739973233","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace  the lid in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14084518234411956215.mp4"}
+{"uid":"16854307564350524","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue pen 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":"9588617227843071547.mp4"}
+{"uid":"11800972196458748703","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place the apple in the bowl 2- place the pear in the bowl 3- place the pear in the bowl 4- place the apple in the bowl 5- place the pear in the bowl 6- place the apple in the bowl 7- place the pear in the bowl 8- place the pear in the bowl 9- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: done\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place the apple in the bowl 2- place the pear in the bowl 3- place the pear in the bowl 4- place the apple in the bowl 5- place the pear in the bowl 6- place the apple in the bowl 7- place the pear in the bowl 8- place the pear in the bowl 9- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"17563852036872749615.mp4"}
+{"uid":"17547319731045458354","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the green apple on the table 5- place the orange on the table 6- place the grapes on the table 7- place the orange on the table 8- place the apple on the table 9- place the apple on the table 10- place the cherries on the table 11- place the cherries on the table 12- place the cherries on the table Q: immediate next step? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the grapes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the grapes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the green apple on the table 5- place the orange on the table 6- place the grapes on the table 7- place the orange on the table 8- place the apple on the table 9- place the apple on the table 10- place the cherries on the table 11- place the cherries on the table 12- place the cherries on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the grapes on the table 2- place the grapes on the table 3- place the cherries on the table 4- done\n\u003c/PRED\u003e","video":"10719167747626335140.mp4"}
+{"uid":"14509078894966600712","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the pear in the bowl 2- place the pear in the bowl 3- place the apple in the bowl 4- place the pear in the bowl 5- place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e","video":"3155231459979082332.mp4"}
+{"uid":"13862080169363564326","text":"\u003ctask:success:discrete:True\u003e\nplace the grapes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e","video":"2602998978646075086.mp4"}
+{"uid":"7189711820198953893","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":"14635306647488834607.mp4"}
+{"uid":"6975586932635492422","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the green apple on the table Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the green apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange on the table 2- place the grapes on the table 3- place the orange on the table 4- place the apple on the table 5- place the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"715015841233706883.mp4"}
+{"uid":"1470700153192502429","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the apple Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17812453468865533018.mp4"}
+{"uid":"15558355155364204594","text":"\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:planning:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. 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: Place the fruits in the bowl. last 20 steps: 1- place the apple in the bowl 2- place the pear in the bowl 3- place the pear in the bowl 4- place the apple in the bowl 5- place the pear in the bowl 6- place the apple in the bowl 7- place the pear in the bowl 8- place the pear in the bowl 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place the apple in the bowl 2- place the pear in the bowl 3- place the pear in the bowl 4- place the apple in the bowl 5- place the pear in the bowl 6- place the apple in the bowl 7- place the pear in the bowl 8- place the pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the bowl 2- done\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the bowl\n\u003c/PRED\u003e","video":"3370831832650777197.mp4"}
+{"uid":"6517048068783667377","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":"8012881597865552341.mp4"}
+{"uid":"9037157404741091577","text":"\u003ctask:success:discrete:True\u003e\nOpen the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the door\n\u003c/PRED\u003e","video":"13986918958404754643.mp4"}
+{"uid":"3658205874420726793","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the green apple on the table 5- place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the grapes on the table 2- place the orange on the table 3- place the apple on the table 4- place the apple on the table 5- place the cherries on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the grapes on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the grapes on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the green apple on the table 5- place the orange on the table Q: immediate next step? \u003cPRED\u003eA: place the grapes on the table\n\u003c/PRED\u003e","video":"4032594909198634340.mp4"}
+{"uid":"3429422271172271863","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cherries on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 cherries on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the green apple on the table 5- place the orange on the table 6- place the grapes on the table 7- place the orange on the table 8- place the apple on the table 9- place the apple on the table 10- place the cherries on the table 11- place the cherries on the table Q: immediate next step? \u003cPRED\u003eA: place the cherries on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cherries on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the green apple on the table 5- place the orange on the table 6- place the grapes on the table 7- place the orange on the table 8- place the apple on the table 9- place the apple on the table 10- place the cherries on the table 11- place the cherries on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the cherries on the table 2- place the grapes on the table 3- place the grapes on the table 4- place the cherries on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: place the cherries on the table\n\u003c/PRED\u003e","video":"2076210429708308153.mp4"}
+{"uid":"13110476040130370705","text":"\u003ctask:success:discrete:True\u003e\nplace the green apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the green apple on the table\n\u003c/PRED\u003e","video":"8935825319823444127.mp4"}
+{"uid":"7884106026893699493","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1011752854450196176.mp4"}
+{"uid":"11578548523033541741","text":"\u003ctask:success:discrete:False\u003e\nplace the orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the green apple on the table 5- place the orange on the table 6- place the grapes on the table Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table 4- place the green apple on the table 5- place the orange on the table 6- place the grapes on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange on the table 2- place the apple on the table 3- place the apple on the table 4- place the cherries on the table 5- place the cherries on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e","video":"16672485875012497319.mp4"}
+{"uid":"3764381313407458797","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place the apple in the bowl 2- place the pear in the bowl 3- place the pear in the bowl 4- place the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the pear in the bowl 2- place the apple in the bowl 3- place the pear in the bowl 4- place the pear in the bowl 5- place the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place the apple in the bowl 2- place the pear in the bowl 3- place the pear in the bowl 4- place the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pear in the bowl\n\u003c/PRED\u003e","video":"802273282539581100.mp4"}
+{"uid":"9000184332974794404","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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\nPut 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: Please provide refreshments to employees . last 20 steps: 1- Open the door 2- Open the fridge 3- Pick up the bottle Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bottle on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please provide refreshments to employees Q: immediate next step? \u003cPRED\u003eA: Put the bottle on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please provide refreshments to employees . last 20 steps: 1- Open the door 2- Open the fridge 3- Pick up the bottle Q: immediate next step? \u003cPRED\u003eA: Put the bottle on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bottle on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bottle on the table\n\u003c/PRED\u003e","video":"13830063488689479354.mp4"}
+{"uid":"285799955216254443","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":"11525341570533788978.mp4"}
+{"uid":"15640874736449857639","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":"14364474545241473769.mp4"}
+{"uid":"8499406076874873393","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange on the table 2- place the green apple on the table 3- place the orange on the table 4- place the grapes on the table 5- place the orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"638386597058209892.mp4"}
+{"uid":"12466652991416983807","text":"\u003ctask:success:discrete:True\u003e\nplace the cherries on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 cherries on the table\n\u003c/PRED\u003e","video":"4865641396783244039.mp4"}
+{"uid":"10401705970037211977","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table Q: immediate next step? \u003cPRED\u003eA: place the green apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the green apple on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the green apple on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please take the fruit out of the bowl Q: immediate next step? \u003cPRED\u003eA: place the green apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green 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 take the fruit out of the bowl. last 20 steps: 1- place the apple on the table 2- place the orange on the table 3- place the orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the green apple on the table 2- place the orange on the table 3- place the grapes on the table 4- place the orange on the table 5- place the apple on the table\n\u003c/PRED\u003e","video":"4473050147179934786.mp4"}
+{"uid":"7527321256277203263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"17874625409379332980.mp4"}
+{"uid":"17101656466751629632","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy on the counter 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":"15830019792800131812.mp4"}
+{"uid":"5154471058641433506","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the sticky notes 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":"12430531015537007507.mp4"}
+{"uid":"16362196072944521313","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the scoop in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please scoop me a few cheese balls snack from the MK. last 20 steps: 1- Put the bowl upright on the table 2- Put the lid on the table 3- Pick up the scoop 4- Hold the scoop 5- Put the snacks in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the scoop in the holder 2- Put the lid on the jar 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please scoop me a few cheese balls snack from the MK. last 20 steps: 1- Put the bowl upright on the table 2- Put the lid on the table 3- Pick up the scoop 4- Hold the scoop 5- Put the snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the scoop in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the scoop in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the scoop in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the scoop in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please scoop me a few cheese balls snack from the MK Q: immediate next step? \u003cPRED\u003eA: Put the scoop in the holder\n\u003c/PRED\u003e","video":"863024001788080092.mp4"}
+{"uid":"7137022795135194627","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the hourglass 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":"10031833135034849371.mp4"}
+{"uid":"7019168543390693765","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the lid on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please scoop me a few cheese balls snack from the MK Q: immediate next step? \u003cPRED\u003eA: Put the lid on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the lid on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please scoop me a few cheese balls snack from the MK. last 20 steps: 1- Put the bowl upright on the table Q: immediate next step? \u003cPRED\u003eA: Put the lid on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please scoop me a few cheese balls snack from the MK. last 20 steps: 1- Put the bowl upright on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the lid on the table 2- Pick up the scoop 3- Hold the scoop 4- Put the snacks in the bowl 5- Put the scoop in the holder\n\u003c/PRED\u003e","video":"4915351935633240484.mp4"}
+{"uid":"3235440086382416680","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":"4359464804031248540.mp4"}
+{"uid":"10219511180539242786","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the scooper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9067149230088292417.mp4"}
+{"uid":"3217661706854055154","text":"\u003ctask:success:discrete:True\u003e\npick the belt 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 belt from the table\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: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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table 15- drop the yellow packet in the cardboard box 16- Drop the brown box in the cardboard box 17- pick the belt from the table 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table 15- drop the yellow packet in the cardboard box 16- Drop the brown box in the cardboard box 17- pick the belt from the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"14692040761550788971.mp4"}
+{"uid":"14003748235458656771","text":"\u003ctask:success:discrete:True\u003e\npick the orange cable wire 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 orange cable wire from the table\n\u003c/PRED\u003e","video":"14586611184367564209.mp4"}
+{"uid":"6882619980297961286","text":"\u003ctask:success:discrete:True\u003e\nPick the orange object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the orange object\n\u003c/PRED\u003e","video":"6389889811725040770.mp4"}
+{"uid":"6001086688846760217","text":"\u003ctask:success:discrete:True\u003e\ndrop the measurement tape 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: drop the measurement tape in the cardboard box\n\u003c/PRED\u003e","video":"13118551581355333484.mp4"}
+{"uid":"11359887125056205643","text":"\u003ctask:success:discrete:True\u003e\nDrop the orange cable 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: Drop the orange cable in the cardboard box\n\u003c/PRED\u003e","video":"2474054392667215438.mp4"}
+{"uid":"13978550461990786395","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":"247422613193998208.mp4"}
+{"uid":"15888514547109347904","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the lid on the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please scoop me a few cheese balls snack from the MK. last 20 steps: 1- Put the bowl upright on the table 2- Put the lid on the table 3- Pick up the scoop 4- Hold the scoop 5- Put the snacks in the bowl 6- Put the scoop in the holder 7- Put the lid on the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please scoop me a few cheese balls snack from the MK. last 20 steps: 1- Put the bowl upright on the table 2- Put the lid on the table 3- Pick up the scoop 4- Hold the scoop 5- Put the snacks in the bowl 6- Put the scoop in the holder 7- Put the lid on the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please scoop me a few cheese balls snack from the MK Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the lid on the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1567569114936040765.mp4"}
+{"uid":"12878551292134120338","text":"\u003ctask:success:discrete:True\u003e\ngo towards the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go towards the cardboard box\n\u003c/PRED\u003e","video":"4753395119613238873.mp4"}
+{"uid":"15129570277867955614","text":"\u003ctask:success:discrete:True\u003e\npick the mini 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the mini brown box from the table\n\u003c/PRED\u003e","video":"17912639032109251044.mp4"}
+{"uid":"5667944821007883167","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":"4630278247729754638.mp4"}
+{"uid":"8316446020317165537","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the belt 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: drop the belt in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the belt in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the belt 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the belt in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table 15- drop the yellow packet in the cardboard box 16- Drop the brown box in the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the belt in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table 15- drop the yellow packet in the cardboard box 16- Drop the brown box in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the belt in the cardboard box 2- done\n\u003c/PRED\u003e","video":"14721092798805517005.mp4"}
+{"uid":"2088831138201560484","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the belt from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the belt from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the belt from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the belt 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the belt from the table\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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table 15- drop the yellow packet in the cardboard box 16- Drop the brown box in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the belt from the table\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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table 15- drop the yellow packet in the cardboard box 16- Drop the brown box in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the belt from the table 2- done\n\u003c/PRED\u003e","video":"3845672146456995425.mp4"}
+{"uid":"4496422846696330778","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the measurement tape 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: drop the measurement tape in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the measurement tape in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the measurement tape 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the measurement tape in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the measurement tape in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the measurement tape in the cardboard box 2- pick the yellow packet from the table 3- pick the yellow packet from the table 4- drop the yellow packet in the cardboard box 5- Drop the brown box in the cardboard box\n\u003c/PRED\u003e","video":"1232155928056352987.mp4"}
+{"uid":"4141432972919835432","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the measuring tape 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: Drop the measuring tape in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the measuring tape in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the measuring tape 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the measuring tape in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table Q: immediate next step? \u003cPRED\u003eA: Drop the measuring tape in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the measuring tape in the cardboard box 2- pick the yellow packet from the table 3- pick the yellow packet from the table 4- drop the yellow packet in the cardboard box 5- Drop the brown box in the cardboard box\n\u003c/PRED\u003e","video":"2433767174139325803.mp4"}
+{"uid":"11615199205420324617","text":"\u003ctask:success:discrete:True\u003e\nDrop the orange object 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: Drop the orange object in the cardboard box\n\u003c/PRED\u003e","video":"14891815366186427005.mp4"}
+{"uid":"149240890552657161","text":"\u003ctask:success:discrete:True\u003e\nDrop the belt 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: Drop the belt in the cardboard 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: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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table 15- drop the yellow packet in the cardboard box 16- Drop the brown box in the cardboard box 17- Drop the belt in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table 15- drop the yellow packet in the cardboard box 16- Drop the brown box in the cardboard box 17- Drop the belt in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"17470395720864092312.mp4"}
+{"uid":"10890427430411968226","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the orange cable from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the orange cable from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the orange cable from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the orange cable 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the orange cable from the table\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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the orange cable from the table\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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange cable from the table 2- move your arm towards the black cable 3- pick the black cable from the table 4- drop the black cable in the cardboard box 5- pick the measuring tape from the table\n\u003c/PRED\u003e","video":"5014373599686097932.mp4"}
+{"uid":"8025040955270155285","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop sticky notes in a glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"158106634472892238.mp4"}
+{"uid":"3010539259558584559","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the wheel tray to 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":"13499638172615776927.mp4"}
+{"uid":"12103624472376887700","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":"15693096649021343718.mp4"}
+{"uid":"4828769762339149908","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":"17187171503493250170.mp4"}
+{"uid":"7112940073338617013","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm towards the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm towards the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm 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: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: move your arm towards the table\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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box Q: immediate next step? \u003cPRED\u003eA: move your arm towards the table\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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm towards the table 2- drop the orange cable in the cardboard box 3- move your arm towards the black cable 4- pick the black cable from the table 5- drop the black cable in the cardboard box\n\u003c/PRED\u003e","video":"3106932028237986412.mp4"}
+{"uid":"4833545949883959670","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm towards the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm towards 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 towards the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm towards the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: move your arm towards the cardboard 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: move your arm towards the cardboard 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- move your arm towards the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table\n\u003c/PRED\u003e","video":"18007917193390240681.mp4"}
+{"uid":"11539527383541823147","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush 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":"8059979492444666022.mp4"}
+{"uid":"13876140657591839892","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"11827266916503002464.mp4"}
+{"uid":"3282360523772741705","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the yellow packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the yellow packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove 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\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: Move the yellow packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table Q: immediate next step? \u003cPRED\u003eA: Move the yellow packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move the yellow packet 2- drop the yellow packet in the cardboard box 3- Drop the brown box in the cardboard box 4- Pick the belt 5- drop the belt in the cardboard box\n\u003c/PRED\u003e","video":"5516786293498943639.mp4"}
+{"uid":"3624907462889825289","text":"\u003ctask:success:discrete:True\u003e\ndrop the black cable wire 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: drop the black cable wire in the cardboard box\n\u003c/PRED\u003e","video":"16535174728586667646.mp4"}
+{"uid":"6780924825952031508","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the banana peel 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":"2544546471775861363.mp4"}
+{"uid":"4486272591616375438","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink 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":"12647579158811640668.mp4"}
+{"uid":"10752156005594787979","text":"\u003ctask:success:discrete:True\u003e\nopen 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: open the cardboard box\n\u003c/PRED\u003e","video":"8362576048224356154.mp4"}
+{"uid":"8456849307418900451","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop packet into jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"270647170227700132.mp4"}
+{"uid":"14178530704591598508","text":"\u003ctask:success:discrete:True\u003e\nrelease the belt 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: release the belt in the cardboard 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: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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table 15- drop the yellow packet in the cardboard box 16- Drop the brown box in the cardboard box 17- release the belt in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table 15- drop the yellow packet in the cardboard box 16- Drop the brown box in the cardboard box 17- release the belt in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"15956944474720211671.mp4"}
+{"uid":"15789782574592936442","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the orange 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the orange cable\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the orange cable\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the orange 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\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Pick the orange cable\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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table Q: immediate next step? \u003cPRED\u003eA: Pick the orange cable\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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the orange cable 2- move your arm towards the black cable 3- pick the black cable from the table 4- drop the black cable in the cardboard box 5- pick the measuring tape from the table\n\u003c/PRED\u003e","video":"1575799585895032098.mp4"}
+{"uid":"9628112368182900747","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the black cable wire 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: drop the black cable wire in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the black cable wire in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the black cable wire 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: 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 cable wire in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the black cable wire in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the black cable wire in the cardboard box 2- pick the measuring tape from the table 3- drop the measuring tape in the cardboard box 4- pick the yellow packet from the table 5- pick the yellow packet from the table\n\u003c/PRED\u003e","video":"7090998555644925941.mp4"}
+{"uid":"13576609285780776189","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the orange object 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: Drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the orange object 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the orange object in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table Q: immediate next step? \u003cPRED\u003eA: Drop the orange object in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the orange object in the cardboard box 2- pick the orange cable from the table 3- drop the orange cable in the cardboard box 4- move your arm towards the black cable 5- pick the black cable from the table\n\u003c/PRED\u003e","video":"1378068248873184307.mp4"}
+{"uid":"9022966326483979366","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the right flap of 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: Open the right flap of the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the right flap of the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the right flap of 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: 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 flap of the cardboard 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 right flap of the cardboard 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 flap of the cardboard box 2- drop the orange object in the cardboard box 3- move your arm towards the table 4- pick the orange cable from the table 5- drop the orange cable in the cardboard box\n\u003c/PRED\u003e","video":"6935377148078448722.mp4"}
+{"uid":"5064332530079473427","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the yellow packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the yellow packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the yellow packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the yellow packet from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the yellow packet from the table\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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table Q: immediate next step? \u003cPRED\u003eA: pick the yellow packet from the table\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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow packet from the table 2- pick the yellow packet from the table 3- drop the yellow packet in the cardboard box 4- Drop the brown box in the cardboard box 5- Pick the belt\n\u003c/PRED\u003e","video":"12606486599023764034.mp4"}
+{"uid":"7667464602266510792","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm upwards Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm upwards\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm upwards Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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: move your arm upwards\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 left flap of the cardboard box Q: immediate next step? \u003cPRED\u003eA: move your arm upwards\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 left flap of the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm upwards 2- drop the orange object in the cardboard box 3- move your arm towards the table 4- pick the orange cable from the table 5- drop the orange cable in the cardboard box\n\u003c/PRED\u003e","video":"9370379863543063097.mp4"}
+{"uid":"2087217351882041877","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop white paper 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":"1244063718869172125.mp4"}
+{"uid":"17610002495913522037","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange cable wire 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: drop the orange cable wire in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange cable wire in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange cable wire 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the orange cable wire in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table Q: immediate next step? \u003cPRED\u003eA: drop the orange cable wire in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange cable wire in the cardboard box 2- pick the black cable from the table 3- drop the black cable in the cardboard box 4- pick the measuring tape from the table 5- drop the measuring tape in the cardboard box\n\u003c/PRED\u003e","video":"5030705732740231381.mp4"}
+{"uid":"16277668289699552594","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the orange object from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the orange object from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the orange object from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the orange object 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the orange object from the table\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 left flap of the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the orange object from the table\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 left flap of the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange object from the table 2- move your arm towards the table 3- pick the orange cable from the table 4- drop the orange cable in the cardboard box 5- move your arm towards the black cable\n\u003c/PRED\u003e","video":"1352025655693973061.mp4"}
+{"uid":"17066081817529802717","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":"10616434458113805936.mp4"}
+{"uid":"17875225505286126325","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet 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":"13927584119257636491.mp4"}
+{"uid":"9162613813303835738","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":"911649334342482507.mp4"}
+{"uid":"1469213005426620434","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the mini brown box in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the mini brown box in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the mini brown box in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the mini brown box in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 mini brown box in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table 15- drop the yellow packet in the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the mini brown box in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table 15- drop the yellow packet in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the mini brown box in the cardboard box 2- drop the belt in the cardboard box 3- done\n\u003c/PRED\u003e","video":"3102302113266438644.mp4"}
+{"uid":"7353224344545889367","text":"\u003ctask:success:discrete:True\u003e\nPick the belt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the belt\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table 15- drop the yellow packet in the cardboard box 16- Pick the belt 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table 15- drop the yellow packet in the cardboard box 16- Pick the belt Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"11959462985311964983.mp4"}
+{"uid":"14170143958446980579","text":"\u003ctask:success:discrete:True\u003e\ndrop the orange object 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: drop the orange object in the cardboard box\n\u003c/PRED\u003e","video":"18049832306339282484.mp4"}
+{"uid":"12191326208716602262","text":"\u003ctask:success:discrete:True\u003e\nOpen the left flap of 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: Open the left flap of the cardboard box\n\u003c/PRED\u003e","video":"13375314088012234554.mp4"}
+{"uid":"4479642307149405508","text":"\u003ctask:success:discrete:True\u003e\nMove the yellow packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the yellow packet\n\u003c/PRED\u003e","video":"2332434626846259250.mp4"}
+{"uid":"17932779784219867266","text":"\u003ctask:success:discrete:True\u003e\nmove your arm 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 your arm towards the table\n\u003c/PRED\u003e","video":"12297817935753804683.mp4"}
+{"uid":"7421251998651718478","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the measuring tape from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the measuring tape from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the measuring tape from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the measuring tape 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the measuring tape from the table\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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table Q: immediate next step? \u003cPRED\u003eA: pick the measuring tape from the table\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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the measuring tape from the table 2- pick the yellow packet from the table 3- pick the yellow packet from the table 4- drop the yellow packet in the cardboard box 5- Drop the brown box in the cardboard box\n\u003c/PRED\u003e","video":"3249375651653980306.mp4"}
+{"uid":"10946284837233885249","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange object 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: drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange object 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the orange object in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the orange object in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange object in the cardboard box 2- move your arm towards the table 3- pick the orange cable from the table 4- drop the orange cable in the cardboard box 5- move your arm towards the black cable\n\u003c/PRED\u003e","video":"5722734526247424030.mp4"}
+{"uid":"11898143675665858789","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the left flap of 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: Open the left flap of the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the left flap of the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the left flap of 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: 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 flap of the cardboard 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 flap of the cardboard 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 flap of the cardboard box 2- pick the orange object from the table 3- drop the orange object in the cardboard box 4- move your arm towards the table 5- pick the orange cable from the table\n\u003c/PRED\u003e","video":"9196807192902807801.mp4"}
+{"uid":"6150166211792295542","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":"11843457625598480320.mp4"}
+{"uid":"4629859689539129335","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":"16081953620270884309.mp4"}
+{"uid":"13216962195805623432","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the snacks in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the 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":"12957862204968517518.mp4"}
+{"uid":"2230934075082760165","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black 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":"12461247209276910360.mp4"}
+{"uid":"1789569893884345115","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the oragne 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":"4002760027331520035.mp4"}
+{"uid":"9369021925175433791","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the belt 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: Drop the belt in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the belt in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the belt 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the belt in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table 15- drop the yellow packet in the cardboard box 16- Drop the brown box in the cardboard box Q: immediate next step? \u003cPRED\u003eA: Drop the belt in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table 15- drop the yellow packet in the cardboard box 16- Drop the brown box in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the belt in the cardboard box 2- done\n\u003c/PRED\u003e","video":"16013113800606159282.mp4"}
+{"uid":"10967816516485275997","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sticky notes 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\u003ctask:affordance:discriminative:discrete:True\u003e\npick the yellow packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the yellow packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the yellow packet from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the yellow packet from the table\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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table Q: immediate next step? \u003cPRED\u003eA: pick the yellow packet from the table\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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow packet from the table 2- Drop the brown box in the cardboard box 3- Pick the belt 4- drop the belt in the cardboard box 5- done\n\u003c/PRED\u003e","video":"11490864018156922838.mp4"}
+{"uid":"14811269242479758595","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the brown box in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the brown box in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the brown box in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the brown box in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 brown box in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table Q: immediate next step? \u003cPRED\u003eA: Drop the brown box in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the brown box in the cardboard box 2- drop the belt in the cardboard box 3- done\n\u003c/PRED\u003e","video":"4047790067533773329.mp4"}
+{"uid":"3519306142768709579","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":"13462860844832190508.mp4"}
+{"uid":"6510502469482416444","text":"\u003ctask:success:discrete:True\u003e\nmove your arm towards the black 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 your arm towards the black cable\n\u003c/PRED\u003e","video":"17731339663359301901.mp4"}
+{"uid":"5874062913940980504","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the black box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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: pick the black 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table 15- drop the yellow packet in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the black 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table 15- drop the yellow packet in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black box 2- Pick the belt 3- drop the belt in the cardboard box 4- done\n\u003c/PRED\u003e","video":"15471085663993569353.mp4"}
+{"uid":"16060166166323012052","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush 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":"17478552660531593717.mp4"}
+{"uid":"17582563175001181078","text":"\u003ctask:success:discrete:True\u003e\nDrop the brown box in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the brown box in the cardboard box\n\u003c/PRED\u003e","video":"14848939921204977434.mp4"}
+{"uid":"15089013177336907153","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":"3629641903769979359.mp4"}
+{"uid":"15950491359216817726","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the measuring tape 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: drop the measuring tape in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the measuring tape in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the measuring tape 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the measuring tape in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the measuring tape in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the measuring tape in the cardboard box 2- pick the yellow packet from the table 3- drop the yellow packet in the cardboard box 4- Drop the brown box in the cardboard box 5- Pick the belt\n\u003c/PRED\u003e","video":"2065881666386888096.mp4"}
+{"uid":"18399333116123849538","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow 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: drop the yellow packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the yellow packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the yellow 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: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 yellow packet in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow packet in the cardboard box 2- Pick the belt 3- drop the belt in the cardboard box 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the black object 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: drop the black object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the black object in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the black object 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the black object in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table Q: immediate next step? \u003cPRED\u003eA: drop the black object in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the black object in the cardboard box 2- Pick the belt 3- drop the belt in the cardboard box 4- done\n\u003c/PRED\u003e","video":"4008817326834581849.mp4"}
+{"uid":"14685023322109366853","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen 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: open the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the cardboard 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 cardboard 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 cardboard box 2- drop the orange object in the cardboard box 3- move your arm towards the table 4- pick the orange cable from the table 5- drop the orange cable in the cardboard box\n\u003c/PRED\u003e","video":"9424251898233990158.mp4"}
+{"uid":"14515432846899358815","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ngo towards the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go towards the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go towards the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo towards the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: go towards the cardboard 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: go towards the cardboard 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- go towards the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table\n\u003c/PRED\u003e","video":"16770211146850610967.mp4"}
+{"uid":"18440084703841950921","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Hold the scoop\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nHold the scoop Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Hold the scoop\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please scoop me a few cheese balls snack from the MK. last 20 steps: 1- Put the bowl upright on the table 2- Put the lid on the table 3- Pick up the scoop Q: next 5 steps? \u003cPRED\u003eA: 1- Hold the scoop 2- Put the snacks in the bowl 3- Put the scoop in the holder 4- Put the lid on the jar 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please scoop me a few cheese balls snack from the MK. last 20 steps: 1- Put the bowl upright on the table 2- Put the lid on the table 3- Pick up the scoop Q: immediate next step? \u003cPRED\u003eA: Hold the scoop\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please scoop me a few cheese balls snack from the MK Q: immediate next step? \u003cPRED\u003eA: Hold the scoop\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nHold the scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1340364890183179499.mp4"}
+{"uid":"16656546845507201978","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":"8045627736801591551.mp4"}
+{"uid":"16172766294298711927","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove your arm towards 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":"17338821703712763487.mp4"}
+{"uid":"12961118184697131167","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the glass on the 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":"8675793778761530479.mp4"}
+{"uid":"8014086189046381633","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the stack of 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":"11192544885566830440.mp4"}
+{"uid":"12894069689996848834","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"13754804495486438695.mp4"}
+{"uid":"13164868196237603280","text":"\u003ctask:success:discrete:True\u003e\nMove your arm close to the orange 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 your arm close to the orange cable\n\u003c/PRED\u003e","video":"10698461543411030570.mp4"}
+{"uid":"11651644455907093191","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red 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":"3002187258428332609.mp4"}
+{"uid":"14190710373694928497","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the indoor plant 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":"3201700044645183411.mp4"}
+{"uid":"1775224902810150527","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the left side flap of 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: open the left side flap of the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the left side flap of the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the left side flap of 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: 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 side flap of the cardboard 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 side flap of the cardboard 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 side flap of the cardboard box 2- pick the orange object from the table 3- drop the orange object in the cardboard box 4- move your arm towards the table 5- pick the orange cable from the table\n\u003c/PRED\u003e","video":"13322985623387495390.mp4"}
+{"uid":"16879085876117745199","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange object 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: drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the orange object in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table Q: immediate next step? \u003cPRED\u003eA: drop the orange object in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange object in the cardboard box 2- pick the orange cable from the table 3- drop the orange cable in the cardboard box 4- move your arm towards the black cable 5- pick the black cable from the table\n\u003c/PRED\u003e","video":"16585731931610905737.mp4"}
+{"uid":"1017546154905652047","text":"\u003ctask:success:discrete:True\u003e\npick the measuring tape 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 measuring tape from the table\n\u003c/PRED\u003e","video":"15111978312337950826.mp4"}
+{"uid":"11022862660909006873","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTurn the duster 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":"10340875731638430720.mp4"}
+{"uid":"6965503474526713633","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":"926265360960261707.mp4"}
+{"uid":"1851978898273938322","text":"\u003ctask:success:discrete:True\u003e\nOpen the right flap of 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: Open the right flap of the cardboard box\n\u003c/PRED\u003e","video":"647895405042869802.mp4"}
+{"uid":"2460693413605577539","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the black cable 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: drop the black cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the black cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the black cable 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: 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 cable in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable Q: immediate next step? \u003cPRED\u003eA: drop the black cable in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable Q: next 5 steps? \u003cPRED\u003eA: 1- drop the black cable in the cardboard box 2- drop the measuring tape in the cardboard box 3- pick the yellow packet from the table 4- pick the yellow packet from the table 5- drop the yellow packet in the cardboard box\n\u003c/PRED\u003e","video":"11210756794369044481.mp4"}
+{"uid":"17082717643684143364","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":"16123204468448067445.mp4"}
+{"uid":"3001031802259793912","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the scoop\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the scoop\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please scoop me a few cheese balls snack from the MK Q: immediate next step? \u003cPRED\u003eA: Pick up the scoop\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the scoop Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please scoop me a few cheese balls snack from the MK. last 20 steps: 1- Put the bowl upright on the table 2- Put the lid on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the scoop\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please scoop me a few cheese balls snack from the MK. last 20 steps: 1- Put the bowl upright on the table 2- Put the lid on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the scoop 2- Hold the scoop 3- Put the snacks in the bowl 4- Put the scoop in the holder 5- Put the lid on the jar\n\u003c/PRED\u003e","video":"78339006677327073.mp4"}
+{"uid":"9531035882918752093","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the orange cable wire from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the orange cable wire from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the orange cable wire from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the orange cable wire 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the orange cable wire from the table\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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the orange cable wire from the table\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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange cable wire from the table 2- drop the orange cable in the cardboard box 3- move your arm towards the black cable 4- pick the black cable from the table 5- drop the black cable in the cardboard box\n\u003c/PRED\u003e","video":"8442942891439601153.mp4"}
+{"uid":"17248340919354848696","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the belt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the belt\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the belt\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the belt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Pick the belt\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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table 15- drop the yellow packet in the cardboard box Q: immediate next step? \u003cPRED\u003eA: Pick the belt\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table 15- drop the yellow packet in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the belt 2- done\n\u003c/PRED\u003e","video":"9966295106034209106.mp4"}
+{"uid":"5967081380734634523","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spatula in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5305144446374430190.mp4"}
+{"uid":"3496600138442570986","text":"\u003ctask:success:discrete:True\u003e\nDrop the black cable 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: Drop the black cable in the cardboard box\n\u003c/PRED\u003e","video":"14804983323960101448.mp4"}
+{"uid":"5842530965666010659","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop toy 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":"2975856335622204287.mp4"}
+{"uid":"4330842604288127285","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the orange cable 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: Drop the orange cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the orange cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the orange cable 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop the orange cable in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table Q: immediate next step? \u003cPRED\u003eA: Drop the orange cable in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the orange cable in the cardboard box 2- pick the black cable from the table 3- drop the black cable in the cardboard box 4- pick the measuring tape from the table 5- drop the measuring tape in the cardboard box\n\u003c/PRED\u003e","video":"18182138583686098675.mp4"}
+{"uid":"17763614193725759386","text":"\u003ctask:success:discrete:True\u003e\nDrop the measuring tape 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: Drop the measuring tape in the cardboard box\n\u003c/PRED\u003e","video":"7787734577983379779.mp4"}
+{"uid":"6537474264333164865","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green 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":"12042906116049260454.mp4"}
+{"uid":"4814742971794829619","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the mini 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the mini 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 mini brown box from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the mini 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:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the mini brown box from the table\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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table Q: immediate next step? \u003cPRED\u003eA: pick the mini brown box from the table\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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the mini brown box from the table 2- Pick the belt 3- drop the belt in the cardboard box 4- done\n\u003c/PRED\u003e","video":"17065361463758614003.mp4"}
+{"uid":"4588065738897513242","text":"\u003ctask:success:discrete:True\u003e\npick the yellow 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 yellow packet from the table\n\u003c/PRED\u003e","video":"2935117010077120651.mp4"}
+{"uid":"243461107686119062","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease the belt 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: release the belt in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: release the belt in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nrelease the belt 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: release the belt in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table 15- drop the yellow packet in the cardboard box 16- Drop the brown box in the cardboard box Q: immediate next step? \u003cPRED\u003eA: release the belt in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table 15- drop the yellow packet in the cardboard box 16- Drop the brown box in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- release the belt in the cardboard box 2- done\n\u003c/PRED\u003e","video":"7427670290524236765.mp4"}
+{"uid":"8183439268233790805","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":"16432275757687063571.mp4"}
+{"uid":"17853486857210864987","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the regulator 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":"4974848481380051703.mp4"}
+{"uid":"11693639716385503431","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm towards the black 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm towards the black cable\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm towards the black cable\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm towards the black 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\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: move your arm towards the black cable\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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table Q: immediate next step? \u003cPRED\u003eA: move your arm towards the black cable\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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm towards the black cable 2- drop the black cable in the cardboard box 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the yellow packet from the table\n\u003c/PRED\u003e","video":"15400828130458571406.mp4"}
+{"uid":"3878888273544524381","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":"10435872276491056625.mp4"}
+{"uid":"14965702808483761679","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the orange object from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the orange object from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the orange object from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the orange object from the table\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 left flap of the cardboard box 2- Open the right flap of the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the orange object from the table\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 left flap of the cardboard box 2- Open the right flap of the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange object from the table 2- move your arm towards the table 3- pick the orange cable from the table 4- drop the orange cable in the cardboard box 5- move your arm towards the black cable\n\u003c/PRED\u003e","video":"4129767008582147194.mp4"}
+{"uid":"2870153651413363631","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\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":"10586281272267631693.mp4"}
+{"uid":"17552433878135731593","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the orange 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: Pick the orange object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the orange object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the orange 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Pick the orange object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the left flap of the cardboard box Q: immediate next step? \u003cPRED\u003eA: Pick the orange object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the left flap of the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the orange object 2- move your arm towards the table 3- pick the orange cable from the table 4- drop the orange cable in the cardboard box 5- move your arm towards the black cable\n\u003c/PRED\u003e","video":"10148373553810708888.mp4"}
+{"uid":"4546965252846402231","text":"\u003ctask:success:discrete:True\u003e\nPut the lid on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the lid on the table\n\u003c/PRED\u003e","video":"8117688346313369213.mp4"}
+{"uid":"11085442230449900081","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the black object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the black object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the black object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black object 2- Drop the brown box in the cardboard box 3- Pick the belt 4- drop the belt in the cardboard box 5- done\n\u003c/PRED\u003e","video":"4277056387207247647.mp4"}
+{"uid":"9763278836503087528","text":"\u003ctask:success:discrete:True\u003e\npick the orange object 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 orange object from the table\n\u003c/PRED\u003e","video":"8007203595307039714.mp4"}
+{"uid":"7205878243338914212","text":"\u003ctask:success:discrete:True\u003e\nopen the right side flap of 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: open the right side flap of the cardboard box\n\u003c/PRED\u003e","video":"15215189533075206105.mp4"}
+{"uid":"595138796836718759","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the snacks in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the 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: can you please scoop me a few cheese balls snack from the MK Q: immediate next step? \u003cPRED\u003eA: Put the snacks in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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: can you please scoop me a few cheese balls snack from the MK. last 20 steps: 1- Put the bowl upright on the table 2- Put the lid on the table 3- Pick up the scoop 4- Hold the scoop Q: immediate next step? \u003cPRED\u003eA: Put the snacks in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please scoop me a few cheese balls snack from the MK. last 20 steps: 1- Put the bowl upright on the table 2- Put the lid on the table 3- Pick up the scoop 4- Hold the scoop Q: next 5 steps? \u003cPRED\u003eA: 1- Put the snacks in the bowl 2- Put the scoop in the holder 3- Put the lid on the jar 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the snacks in the bowl\n\u003c/PRED\u003e","video":"12777009078764356050.mp4"}
+{"uid":"12077755848844618084","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white 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":"8965680354957146301.mp4"}
+{"uid":"12890137158708364304","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":"2875524450874942264.mp4"}
+{"uid":"12088994863374416164","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":"17886535636694677347.mp4"}
+{"uid":"14418590376511755881","text":"\u003ctask:success:discrete:True\u003e\npick the orange object 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 orange object from the table\n\u003c/PRED\u003e","video":"17417696807985886623.mp4"}
+{"uid":"12076243587670800589","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the right side flap of 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: open the right side flap of the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the right side flap of the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the right side flap of 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: 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 side flap of the cardboard 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 left flap of the cardboard box Q: immediate next step? \u003cPRED\u003eA: open the right side flap of the cardboard 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 left flap of the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- open the right side flap of the cardboard box 2- drop the orange object in the cardboard box 3- move your arm towards the table 4- pick the orange cable from the table 5- drop the orange cable in the cardboard box\n\u003c/PRED\u003e","video":"5807597560257156548.mp4"}
+{"uid":"3021356915850651434","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the lid on the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please scoop me a few cheese balls snack from the MK Q: immediate next step? \u003cPRED\u003eA: Put the lid on the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please scoop me a few cheese balls snack from the MK. last 20 steps: 1- Put the bowl upright on the table 2- Put the lid on the table 3- Pick up the scoop 4- Hold the scoop 5- Put the snacks in the bowl 6- Put the scoop in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the lid on 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 lid on the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the lid on the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please scoop me a few cheese balls snack from the MK. last 20 steps: 1- Put the bowl upright on the table 2- Put the lid on the table 3- Pick up the scoop 4- Hold the scoop 5- Put the snacks in the bowl 6- Put the scoop in the holder Q: immediate next step? \u003cPRED\u003eA: Put the lid on the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the lid on the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15360771043823877815.mp4"}
+{"uid":"18016013410151985276","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the stapler in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4347616097015490448.mp4"}
+{"uid":"16020068607332297811","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":"4773671655264590958.mp4"}
+{"uid":"11576241021338880979","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the duster cloth from 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":"459820112678300483.mp4"}
+{"uid":"10299579969161532223","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black cable from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black cable from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black cable from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the black cable 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the black cable from the table\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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the black cable from the table\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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black cable from the table 2- pick the measuring tape from the table 3- drop the measuring tape in the cardboard box 4- pick the yellow packet from the table 5- pick the yellow packet from the table\n\u003c/PRED\u003e","video":"16233414544794701712.mp4"}
+{"uid":"4850858700407012492","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":"10698808014454852575.mp4"}
+{"uid":"7658570535978169852","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"7743583813444442135.mp4"}
+{"uid":"9892307795364681396","text":"\u003ctask:success:discrete:True\u003e\nmove your arm towards the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm towards the cardboard box\n\u003c/PRED\u003e","video":"9425148675202062414.mp4"}
+{"uid":"9744278886602255079","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please scoop me a few cheese balls snack from the MK Q: immediate next step? \u003cPRED\u003eA: Put the bowl upright on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bowl upright on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl upright on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bowl upright on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please scoop me a few cheese balls snack from the MK. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl upright on the table 2- Put the lid on the table 3- Pick up the scoop 4- Hold the scoop 5- Put the snacks in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bowl upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please scoop me a few cheese balls snack from the MK. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the bowl upright on the table\n\u003c/PRED\u003e","video":"2397853000921413009.mp4"}
+{"uid":"7033502242139519429","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange cable 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: drop the orange cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange cable 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: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the orange cable in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table Q: immediate next step? \u003cPRED\u003eA: drop the orange cable in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange cable in the cardboard box 2- pick the black cable from the table 3- drop the black cable in the cardboard box 4- pick the measuring tape from the table 5- drop the measuring tape in the cardboard box\n\u003c/PRED\u003e","video":"3476504267882214284.mp4"}
+{"uid":"5332968569614530419","text":"\u003ctask:success:discrete:True\u003e\npick the black 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 black box\n\u003c/PRED\u003e","video":"9971700065215065166.mp4"}
+{"uid":"2001659142830214558","text":"\u003ctask:success:discrete:True\u003e\npick the black object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the black object\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the yellow 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 yellow packet from the table\n\u003c/PRED\u003e","video":"1542892133424684789.mp4"}
+{"uid":"15969662482445980780","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease the black box in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: release the black box in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: release the black box in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nrelease the black box in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: release the black box in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table 15- drop the yellow packet in the cardboard box Q: immediate next step? \u003cPRED\u003eA: release the black box in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box 8- move your arm towards the black cable 9- pick the black cable from the table 10- drop the black cable in the cardboard box 11- pick the measuring tape from the table 12- drop the measuring tape in the cardboard box 13- pick the yellow packet from the table 14- pick the yellow packet from the table 15- drop the yellow packet in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- release the black box in the cardboard box 2- drop the belt in the cardboard box 3- done\n\u003c/PRED\u003e","video":"9847699852780909085.mp4"}
+{"uid":"17749349472917764112","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove your arm close to the orange 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move your arm close to the orange cable\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 orange cable\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove your arm close to the orange 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\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: Move your arm close to the orange cable\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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box Q: immediate next step? \u003cPRED\u003eA: Move your arm close to the orange cable\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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Move your arm close to the orange cable 2- drop the orange cable in the cardboard box 3- move your arm towards the black cable 4- pick the black cable from the table 5- drop the black cable in the cardboard box\n\u003c/PRED\u003e","video":"15533601403082881567.mp4"}
+{"uid":"3917152998192844540","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove 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":"1779784238970288528.mp4"}
+{"uid":"2670788399638587925","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the black cable 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: Drop the black cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the black cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the black cable 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: 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 cable in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box Q: immediate next step? \u003cPRED\u003eA: Drop the black cable in the cardboard 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 left flap of the cardboard box 2- Open the right flap of the cardboard box 3- pick the orange object from the table 4- drop the orange object in the cardboard box 5- move your arm towards the table 6- pick the orange cable from the table 7- drop the orange cable in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the black cable in the cardboard box 2- pick the measuring tape from the table 3- drop the measuring tape in the cardboard box 4- pick the yellow packet from the table 5- pick the yellow packet from the table\n\u003c/PRED\u003e","video":"284449888963812428.mp4"}
+{"uid":"14041271916855624424","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the red packet at the back side of the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the red packet at the back side of 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":"8105307895634942132.mp4"}
+{"uid":"5659582402112032637","text":"\u003ctask:success:discrete:False\u003e\narrange the brown  packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: arrange the brown  packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container 8- arrange the  brown packet in the container 9- Put the red packet at the back side of the organizer Q: immediate next step? \u003cPRED\u003eA: arrange the brown  packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the brown  packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the brown  packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the brown  packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container 8- arrange the  brown packet in the container 9- Put the red packet at the back side of the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the brown  packet in the container 2- done\n\u003c/PRED\u003e","video":"16313856472891897072.mp4"}
+{"uid":"8579682913396328995","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container Q: immediate next step? \u003cPRED\u003eA: organize chip packet in basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: organize chip packet in basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: organize chip packet in basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- organize chip packet in basket 2- Put the red packet at the back side of the organizer 3- arrange the  brown packet in the container 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: organize chip packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\norganize chip 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":"3157418560092503508.mp4"}
+{"uid":"13361893619113609080","text":"\u003ctask:success:discrete:True\u003e\narrange the brown packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container 8- arrange the  brown packet in the container 9- Put the red packet at the back side of the organizer 10- arrange the brown packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container 8- arrange the  brown packet in the container 9- Put the red packet at the back side of the organizer 10- arrange the brown packet in the container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the brown packet in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14789780252649725951.mp4"}
+{"uid":"641953156218901580","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the white packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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":"12301641088902897741.mp4"}
+{"uid":"1941308734922441998","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place 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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: none Q: immediate next step? \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: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:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: Put the white packet on the table\n\u003c/PRED\u003e","video":"8521394764542310277.mp4"}
+{"uid":"14898828118667209994","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":"15238658111160524359.mp4"}
+{"uid":"12699016034835906509","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":"8263016946845922403.mp4"}
+{"uid":"14102419105992910947","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrag the white 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":"14473057901856208731.mp4"}
+{"uid":"9965213633192366260","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":"3554051507870858249.mp4"}
+{"uid":"1456371938209569279","text":"\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","video":"8621743999931743681.mp4"}
+{"uid":"11830715870125290219","text":"\u003ctask:success:discrete:True\u003e\nput the popcorn 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 the popcorn packet on table\n\u003c/PRED\u003e","video":"5910368548421401306.mp4"}
+{"uid":"15100143534225360008","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: place the white packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table Q: immediate next step? \u003cPRED\u003eA: place the white packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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: place the white packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the white packets on the table 2- place the white packet on the table 3- place the white packet on the table 4- arrange the brown  packet in the container 5- arrange the  brown packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white packets on the table\n\u003c/PRED\u003e","video":"13723562086926114700.mp4"}
+{"uid":"11381474130473345439","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: organize chip packet in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\norganize chip 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","video":"17874508831573741440.mp4"}
+{"uid":"11405803388454007835","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packet at the back side of the organizer 2- arrange the  brown packet in the container 3- Put the red packet at the back side of the organizer 4- arrange the  brown packet in the container 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: Put the red packet at the back side of the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red packet at the back side of 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 red packet at the back side of the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the red packet at the back side of 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 red packet at the back side of the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the red packet at the back side of the organizer\n\u003c/PRED\u003e","video":"17822065742405724805.mp4"}
+{"uid":"14130849664746058353","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":"6819537230383688044.mp4"}
+{"uid":"1760149289988318521","text":"\u003ctask:success:discrete:True\u003e\nglass put the popcorn packets 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: glass put the popcorn packets on table\n\u003c/PRED\u003e","video":"10221323751504572447.mp4"}
+{"uid":"4138295115651656581","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":"15946470355355650938.mp4"}
+{"uid":"1236920864815915416","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":"18360766411059202367.mp4"}
+{"uid":"3834211474178331282","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\u003ctask:affordance:discriminative:discrete:False\u003e\nopen 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":"3243693569782398171.mp4"}
+{"uid":"12155517215783524222","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container 8- arrange the  brown packet in the container Q: immediate next step? \u003cPRED\u003eA: Put the red packet at the back side of the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: Put the red packet at the back side of the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container 8- arrange the  brown packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packet at the back side of the organizer 2- arrange the  brown packet in the container 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red packet at the back side of the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red packet at the back side of 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 red packet at the back side of the organizer\n\u003c/PRED\u003e","video":"15086402281545532217.mp4"}
+{"uid":"9924764068876154631","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":"802847363598045068.mp4"}
+{"uid":"607989367962980852","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: the glass put the popcorn packet on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nthe glass put the popcorn 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":"9153675674423394024.mp4"}
+{"uid":"6577540386352561030","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOrganize the chip 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":"17806082934498840343.mp4"}
+{"uid":"5228089427217817659","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: organize chip packet in basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container 8- arrange the  brown packet in the container 9- Put the red packet at the back side of the organizer Q: immediate next step? \u003cPRED\u003eA: organize chip packet in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\norganize chip 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container 8- arrange the  brown packet in the container 9- Put the red packet at the back side of the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- organize chip packet in basket 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: organize chip packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\norganize chip 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:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: organize chip packet in basket\n\u003c/PRED\u003e","video":"12729727411362387515.mp4"}
+{"uid":"1845286025206022720","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the popcorn packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the popcorn 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: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: put the popcorn packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the popcorn packet on table 2- place the white packet on the table 3- place the white packets on the table 4- place the white 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: put the popcorn packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the popcorn packet on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the popcorn 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","video":"9308971580743879662.mp4"}
+{"uid":"356950915217723191","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack glasses on top of the 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":"3165468716383352161.mp4"}
+{"uid":"17660489669168602486","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTurn on the light Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17816492014571375563.mp4"}
+{"uid":"460262101540566260","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":"13779640437655919340.mp4"}
+{"uid":"14374060907730358907","text":"\u003ctask:success:discrete:True\u003e\nPut the tilted red packet at the back side of 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: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container 8- arrange the  brown packet in the container 9- Put the red packet at the back side of the organizer 10- Put the tilted red packet at the back side of the organizer 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 tilted red packet at the back side of the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container 8- arrange the  brown packet in the container 9- Put the red packet at the back side of the organizer 10- Put the tilted red packet at the back side of the organizer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14847570034784112028.mp4"}
+{"uid":"6746307812194428722","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tape 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":"6994177539052330945.mp4"}
+{"uid":"2916152250503289314","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: arrange the brown  packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table Q: immediate next step? \u003cPRED\u003eA: arrange the brown  packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the brown  packet in the container 2- arrange the  brown packet in the container 3- Put the red packet at the back side of the organizer 4- arrange the  brown packet in the container 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the brown  packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the brown  packet in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the brown  packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the brown  packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12522835971977252754.mp4"}
+{"uid":"8391999154914311166","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container 8- arrange the  brown packet in the container 9- Put the red packet at the back side of the organizer 10- organize chip packet in basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container 8- arrange the  brown packet in the container 9- Put the red packet at the back side of the organizer 10- organize chip packet in basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\norganize chip 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: organize chip packet in basket\n\u003c/PRED\u003e","video":"3185083516800445031.mp4"}
+{"uid":"8305201119146426133","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow packet in the table from 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":"15037579761088127481.mp4"}
+{"uid":"6138357403569940945","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":"5096197499083061571.mp4"}
+{"uid":"5898043205662473227","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets 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 all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the white packet on the table 2- arrange the brown  packet in the container 3- arrange the  brown packet in the container 4- Put the red packet at the back side of the organizer 5- arrange the  brown packet in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip 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: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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white packet on the table\n\u003c/PRED\u003e","video":"10202882999513352454.mp4"}
+{"uid":"3713334592197617793","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the white packet on the table\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","video":"2504555545612173252.mp4"}
+{"uid":"1457664024739779660","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the book 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":"4891505021584167882.mp4"}
+{"uid":"17857479171340264221","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nsliding 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":"16282194869561812430.mp4"}
+{"uid":"5032756520642129096","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 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: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packets on the table 4- place the white 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 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: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: place the white packet on the table\n\u003c/PRED\u003e","video":"18017428047765130249.mp4"}
+{"uid":"16330095473760253524","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":"15886980879053275682.mp4"}
+{"uid":"3144960065733629125","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace an orange 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":"8536595300850033915.mp4"}
+{"uid":"10534955189795551668","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the white packet on tha table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the white packet on tha table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: Put the white packet on tha table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the white packet on tha table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 tha table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 tha table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet on tha table 2- place the white packets on the table 3- place the white packet on the table 4- place the white packet on the table 5- arrange the brown  packet in the container\n\u003c/PRED\u003e","video":"2414402407725128602.mp4"}
+{"uid":"1667998167332185506","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":"14556708098392921919.mp4"}
+{"uid":"4753652046983470902","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the cart to the right side of 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":"16064843580344126755.mp4"}
+{"uid":"13716720238764403143","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the white packet on the table 2- place the white packets on the table 3- place the white packet on the table 4- place the white packet on the table 5- arrange the brown  packet in the container\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: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 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: take all of the popcorn bags out of the chip tray 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":"1920812768180334757.mp4"}
+{"uid":"16766193770925341886","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the  brown packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the brown packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container 8- arrange the  brown packet in the container 9- Put the red packet at the back side of the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the  brown packet in the container 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: arrange the brown packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the  brown packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the  brown packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the  brown packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container 8- arrange the  brown packet in the container 9- Put the red packet at the back side of the organizer Q: immediate next step? \u003cPRED\u003eA: arrange the brown packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the brown packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container 8- arrange the  brown packet in the container 9- Put the red packet at the back side of the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the brown packet in the container 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the brown packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: arrange the  brown packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container 8- arrange the  brown packet in the container 9- Put the red packet at the back side of the organizer Q: immediate next step? \u003cPRED\u003eA: arrange the  brown packet in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the brown packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1961026776931018564.mp4"}
+{"uid":"15028464938728068906","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the popcorn 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 popcorn packet on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the popcorn packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: put the popcorn packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the popcorn packet on table 2- arrange the brown  packet in the container 3- arrange the  brown packet in the container 4- Put the red packet at the back side of the organizer 5- arrange the  brown packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the popcorn packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table Q: immediate next step? \u003cPRED\u003eA: put the popcorn packet on table\n\u003c/PRED\u003e","video":"54182764457024342.mp4"}
+{"uid":"2286196259220952094","text":"\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: take all of the popcorn bags out of the chip tray 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: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 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: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packets on the table 2- place the white packet on the table 3- place the white packet on the table 4- arrange the brown  packet in the container 5- arrange the  brown packet in the container\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","video":"12545295915733834062.mp4"}
+{"uid":"10794436104638247991","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":"7826323844855136852.mp4"}
+{"uid":"12270867299082854322","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the  brown packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the  brown packet in the container 2- Put the red packet at the back side of the organizer 3- arrange the  brown packet in the container 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the  brown packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container Q: immediate next step? \u003cPRED\u003eA: arrange the  brown packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the  brown packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the  brown packet in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: arrange the  brown packet in the container\n\u003c/PRED\u003e","video":"5535818724843595457.mp4"}
+{"uid":"3206793677640988142","text":"\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\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:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray 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 all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the white packet on the table 2- arrange the brown  packet in the container 3- arrange the  brown packet in the container 4- Put the red packet at the back side of the organizer 5- arrange the  brown packet in the container\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: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table Q: immediate next step? \u003cPRED\u003eA: place the white packet on the table\n\u003c/PRED\u003e","video":"18251530409525405872.mp4"}
+{"uid":"175579281511165053","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10501030232407592067.mp4"}
+{"uid":"16857953652714279876","text":"\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","video":"5699682354853582573.mp4"}
+{"uid":"3139019144702828079","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the 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":"10763087531532738099.mp4"}
+{"uid":"1709809042099195723","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the red packet at the back side of the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red packet at the back side of the organizer 2- Put the red packet at the back side of the organizer 3- arrange the  brown packet in the container 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: Put the red packet at the back side of the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the red packet at the back side of the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container Q: immediate next step? \u003cPRED\u003eA: Put the red packet at the back side of the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the red packet at the back side of 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":"9843445279505150923.mp4"}
+{"uid":"11608855542859631475","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":"12170224649762781038.mp4"}
+{"uid":"13783602723505065899","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nUnstack the blue cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"207510034418957057.mp4"}
+{"uid":"14579349879008479290","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets 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: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet on the table 2- place the white packet on the table 3- arrange the brown  packet in the container 4- arrange the  brown packet in the container 5- Put the red packet at the back side of the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray 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: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":"16777560053175644059.mp4"}
+{"uid":"2881209461658103650","text":"\u003ctask:success:discrete:True\u003e\narrange the  brown packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the  brown packet in the container\n\u003c/PRED\u003e","video":"1487970276701516668.mp4"}
+{"uid":"4621628337204774748","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet on the table 2- arrange the brown  packet in the container 3- arrange the  brown packet in the container 4- Put the red packet at the back side of the organizer 5- arrange the  brown packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet 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: take all of the popcorn bags out of the chip tray 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: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":"9080173606550391024.mp4"}
+{"uid":"5606417674756211474","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table Q: immediate next step? \u003cPRED\u003eA: the glass put the popcorn packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: the glass put the popcorn packet on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nthe glass put the popcorn 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:discriminative:discrete:True\u003e\nthe glass put the popcorn 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: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- the glass put the popcorn packet on table 2- arrange the brown  packet in the container 3- arrange the  brown packet in the container 4- Put the red packet at the back side of the organizer 5- arrange the  brown packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: the glass put the popcorn packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: the glass put the popcorn packet on table\n\u003c/PRED\u003e","video":"10702899318112060636.mp4"}
+{"uid":"38983844149261835","text":"\u003ctask:success:discrete:True\u003e\narrange the  brown packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the  brown packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container 8- arrange the  brown packet in the container 9- Put the red packet at the back side of the organizer 10- arrange the  brown packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container 8- arrange the  brown packet in the container 9- Put the red packet at the back side of the organizer 10- arrange the  brown packet in the container Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3962231691243201156.mp4"}
+{"uid":"1718674609926463747","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: organize chip packet in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\norganize chip 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","video":"9611711024802516112.mp4"}
+{"uid":"11083585773685783405","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- 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:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: none 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: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":"4311504880451783733.mp4"}
+{"uid":"10684628717969673521","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tilted red packet at the back side of the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container 8- arrange the  brown packet in the container 9- Put the red packet at the back side of the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tilted red packet at the back side of the organizer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tilted red packet at the back side of 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 tilted red packet at the back side of 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 tilted red packet at the back side of the organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container 8- arrange the  brown packet in the container 9- Put the red packet at the back side of the organizer Q: immediate next step? \u003cPRED\u003eA: Put the tilted red packet at the back side of the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: Put the tilted red packet at the back side of the organizer\n\u003c/PRED\u003e","video":"3258517939303431632.mp4"}
+{"uid":"8066824689051320375","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":"10926740428371455748.mp4"}
+{"uid":"2106512475511442496","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":"14973475077165292284.mp4"}
+{"uid":"18027984686369653235","text":"\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","video":"2197699021994289879.mp4"}
+{"uid":"242936209765912635","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the white packet on the table\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","video":"4028369490257242803.mp4"}
+{"uid":"1871654335491166714","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the white packet on the table\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","video":"13157333144938920482.mp4"}
+{"uid":"2420904286576216691","text":"\u003ctask:success:discrete:False\u003e\nglass put the popcorn 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: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- glass put the popcorn packets on table 2- place the white packet on the table 3- arrange the brown  packet in the container 4- arrange the  brown packet in the container 5- Put the red packet at the back side of the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: glass put the popcorn packets on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nglass put the popcorn 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: glass put the popcorn packets on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table Q: immediate next step? \u003cPRED\u003eA: glass put the popcorn packets on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: glass put the popcorn packets on table\n\u003c/PRED\u003e","video":"4783340161238821866.mp4"}
+{"uid":"7523910622623004365","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container 8- arrange the  brown packet in the container 9- Put the red packet at the back side of the organizer Q: immediate next step? \u003cPRED\u003eA: organize chip packets in basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\norganize chip packets 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: organize chip packets in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: organize chip packets in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\norganize chip packets 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: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: organize chip packets in basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table 7- arrange the brown  packet in the container 8- arrange the  brown packet in the container 9- Put the red packet at the back side of the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- organize chip packets in basket 2- done\n\u003c/PRED\u003e","video":"14141544226877234683.mp4"}
+{"uid":"12863140079155824045","text":"\u003ctask:success:discrete:False\u003e\nput the popcorn 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:discriminative:discrete:True\u003e\nput the popcorn 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: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table Q: immediate next step? \u003cPRED\u003eA: put the popcorn packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the popcorn packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the popcorn packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the popcorn packet on table 2- place the white packets on the table 3- place the white packet on the table 4- place the white packet on the table 5- arrange the brown  packet in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: put the popcorn packet on table\n\u003c/PRED\u003e","video":"1937377370662177474.mp4"}
+{"uid":"10844103387206899568","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown 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":"8420402680275379584.mp4"}
+{"uid":"2515037091517314354","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the white packet on the table 2- place the white packet on the table 3- place the white packets on the table 4- place the white packet on the table 5- place the white packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet 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","video":"17528489722798173755.mp4"}
+{"uid":"18093594075958266000","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- organize chip packet in basket 2- arrange the  brown packet in the container 3- Put the red packet at the back side of the organizer 4- arrange the  brown packet in the container 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\norganize chip 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray. last 20 steps: 1- place the white packet on the table 2- place the white packet on the table 3- place the white packet on the table 4- place the white packets on the table 5- place the white packet on the table 6- place the white packet on the table Q: immediate next step? \u003cPRED\u003eA: organize chip packet in basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: organize chip packet in basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\norganize chip 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: organize chip packet in basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: take all of the popcorn bags out of the chip tray Q: immediate next step? \u003cPRED\u003eA: organize chip packet in basket\n\u003c/PRED\u003e","video":"12812276508843281976.mp4"}
+{"uid":"16339840996129443557","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the white packet on the table\n\u003c/PRED\u003e\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","video":"13595851387037859384.mp4"}
+{"uid":"13212935059162134320","text":"\u003ctask:success:discrete:True\u003e\narrange the brown  packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the brown  packet in the container\n\u003c/PRED\u003e","video":"2330952740192633441.mp4"}
+{"uid":"11704434513525087028","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":"427934088537099470.mp4"}
+{"uid":"14991383644118622126","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put 3 box on platform\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table Q: immediate next step? \u003cPRED\u003eA: Put 3 box on platform\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put 3 box on platform 2- move the cup stacks aside 3- put the boxes on the rack 4- Place glass back on place 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 3 box on platform Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 3 box on platform Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put 3 box on platform\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display Q: immediate next step? \u003cPRED\u003eA: Put 3 box on platform\n\u003c/PRED\u003e","video":"14879782094849620983.mp4"}
+{"uid":"17566940493864585963","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":"7435206695208337010.mp4"}
+{"uid":"13626261319215583569","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2685871558372462636.mp4"}
+{"uid":"13348000011173349791","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the box on the table 2- move the cup stacks aside 3- put the boxes on the rack 4- Place glass back on place 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the box on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display Q: immediate next step? \u003cPRED\u003eA: place the box on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table Q: immediate next step? \u003cPRED\u003eA: place the 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 box on the table\n\u003c/PRED\u003e","video":"15903542836204937388.mp4"}
+{"uid":"17870951058003016892","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange candy in a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17008006643084661427.mp4"}
+{"uid":"6378041454049362323","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":"3245054709431717659.mp4"}
+{"uid":"15428387918704982861","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":"3705443680638211073.mp4"}
+{"uid":"905576082421228735","text":"\u003ctask:success:discrete:True\u003e\nput 3 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 3 box in the stand\n\u003c/PRED\u003e","video":"2180582590050040909.mp4"}
+{"uid":"9582853294586242417","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display Q: immediate next step? \u003cPRED\u003eA: move boxes on the table from trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table Q: immediate next step? \u003cPRED\u003eA: move boxes on the table from trolley\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove boxes on the table from 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:success:discrete:False\u003e\nmove boxes on the table from 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: move boxes on the table from trolley\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move boxes on the table from trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table Q: next 5 steps? \u003cPRED\u003eA: 1- move boxes on the table from trolley 2- move the cup stacks aside 3- put the boxes on the rack 4- Place glass back on place 5- done\n\u003c/PRED\u003e","video":"9103751896546842560.mp4"}
+{"uid":"3191825062068690860","text":"\u003ctask:success:discrete:False\u003e\nPlace glass back on place Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display Q: immediate next step? \u003cPRED\u003eA: Place glass back on place\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley 3- move the cup stacks aside 4- put the boxes on the rack Q: next 5 steps? \u003cPRED\u003eA: 1- Place glass back on place 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley 3- move the cup stacks aside 4- put the boxes on the rack Q: immediate next step? \u003cPRED\u003eA: Place glass back on place\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place glass back on place\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place glass back on place\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace glass back on place Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14144869857139864301.mp4"}
+{"uid":"15632610093913917454","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move boxes on the table from trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the cup stacks aside\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the cup stacks aside\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove boxes on the table from 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:success:discrete:False\u003e\nmove the cup stacks aside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 stacks aside Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley Q: immediate next step? \u003cPRED\u003eA: move the cup stacks aside\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley Q: next 5 steps? \u003cPRED\u003eA: 1- move the cup stacks aside 2- put the boxes on the rack 3- Place glass back on place 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display Q: immediate next step? \u003cPRED\u003eA: move the cup stacks aside\n\u003c/PRED\u003e","video":"11270203885432371164.mp4"}
+{"uid":"10475056936493544817","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5811658282615627260.mp4"}
+{"uid":"12699171492471348650","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the box on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display Q: immediate next step? \u003cPRED\u003eA: place the box on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the box on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table Q: immediate next step? \u003cPRED\u003eA: place the box on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the box on the table 2- move the cup stacks aside 3- put the boxes on the rack 4- Place glass back on place 5- done\n\u003c/PRED\u003e","video":"14870055527975390375.mp4"}
+{"uid":"6095365400158560542","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display Q: immediate next step? \u003cPRED\u003eA: Put 4 box in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley 3- move the cup stacks aside Q: immediate next step? \u003cPRED\u003eA: Put 4 box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut 4 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 4 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 4 box in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put 4 box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley 3- move the cup stacks aside Q: next 5 steps? \u003cPRED\u003eA: 1- Put 4 box in the stand 2- Place glass back on place 3- done\n\u003c/PRED\u003e","video":"5363746317156199999.mp4"}
+{"uid":"3671825584294135341","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the snacks 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":"12214715061103605256.mp4"}
+{"uid":"18352474518202391835","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the pebble in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10190435216447781991.mp4"}
+{"uid":"678185023634601068","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pull the rack towards the platform. 2- move boxes on the table from trolley 3- move the cup stacks aside 4- put the boxes on the rack 5- Place glass back on place\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pull the rack towards the platform.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pull the rack towards the platform.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pull the rack towards the platform.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display Q: immediate next step? \u003cPRED\u003eA: Pull the rack towards the platform.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPull the rack towards the platform. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPull the rack towards the platform. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1835019824880247881.mp4"}
+{"uid":"13502669262101324478","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput oreo cookie 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":"4559088483196156887.mp4"}
+{"uid":"8749454205101614108","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":"8374445739619254511.mp4"}
+{"uid":"14894103126420825506","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the marker 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":"7742944074083699761.mp4"}
+{"uid":"661674587936282310","text":"\u003ctask:success:discrete:True\u003e\nmove the cup stacks aside Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 cup stacks aside\n\u003c/PRED\u003e","video":"12976973712705158200.mp4"}
+{"uid":"1422220979077713015","text":"\u003ctask:success:discrete:False\u003e\nPut a juice box on the platform of Kitech. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display Q: immediate next step? \u003cPRED\u003eA: Put a juice box on the platform of Kitech.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a juice box on the platform of Kitech.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table Q: immediate next step? \u003cPRED\u003eA: Put a juice box on the platform of Kitech.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a juice box on the platform of Kitech.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a juice box on the platform of Kitech. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put a juice box on the platform of Kitech. 2- move the cup stacks aside 3- put the boxes on the rack 4- Place glass back on place 5- done\n\u003c/PRED\u003e","video":"10325856439939825951.mp4"}
+{"uid":"10726216957048224106","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the 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":"13137874376742900306.mp4"}
+{"uid":"16173570671403620508","text":"\u003ctask:success:discrete:False\u003e\nplace the box on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table Q: immediate next step? \u003cPRED\u003eA: place the box on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the 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 box on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the box on the table 2- move the cup stacks aside 3- put the boxes on the rack 4- Place glass back on place 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display Q: immediate next step? \u003cPRED\u003eA: place the box on the table\n\u003c/PRED\u003e","video":"397246283009103142.mp4"}
+{"uid":"1531360724473118396","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":"9136948042985591878.mp4"}
+{"uid":"14223014841892995100","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 3 box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley 3- move the cup stacks aside Q: immediate next step? \u003cPRED\u003eA: put 3 box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 3 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: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display Q: immediate next step? \u003cPRED\u003eA: put 3 box in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 3 box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put 3 box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley 3- move the cup stacks aside Q: next 5 steps? \u003cPRED\u003eA: 1- put 3 box in the stand 2- Place glass back on place 3- done\n\u003c/PRED\u003e","video":"11768303684510447367.mp4"}
+{"uid":"18263200604379749024","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the box in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6157262282417164637.mp4"}
+{"uid":"16680287721534384004","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley Q: immediate next step? \u003cPRED\u003eA: Pull back the glass tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPull back the glass 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: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley Q: next 5 steps? \u003cPRED\u003eA: 1- Pull back the glass tray 2- put the boxes on the rack 3- Place glass back on place 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pull back the glass tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPull back the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 back the glass tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display Q: immediate next step? \u003cPRED\u003eA: Pull back the glass tray\n\u003c/PRED\u003e","video":"3819309757350597447.mp4"}
+{"uid":"1327467835361225227","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley 3- move the cup stacks aside Q: immediate next step? \u003cPRED\u003eA: place the box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the box in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display Q: immediate next step? \u003cPRED\u003eA: place the box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley 3- move the cup stacks aside Q: next 5 steps? \u003cPRED\u003eA: 1- place the box in the stand 2- Place glass back on place 3- done\n\u003c/PRED\u003e","video":"941541685798700542.mp4"}
+{"uid":"9477810682337783400","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley 3- move the cup stacks aside Q: immediate next step? \u003cPRED\u003eA: place the box in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the box in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display Q: immediate next step? \u003cPRED\u003eA: place the box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley 3- move the cup stacks aside Q: next 5 steps? \u003cPRED\u003eA: 1- place the box in the stand 2- Place glass back on place 3- done\n\u003c/PRED\u003e","video":"7472205459705535200.mp4"}
+{"uid":"16248600810765095272","text":"\u003ctask:success:discrete:True\u003e\nplace the trolley near the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 trolley near the table\n\u003c/PRED\u003e","video":"1017456732855889508.mp4"}
+{"uid":"12891401946691794525","text":"\u003ctask:success:discrete:True\u003e\nPull the rack towards the platform. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 trolley near the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the trolley near the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pull the rack towards the platform.\n\u003c/PRED\u003e","video":"11090235096418664891.mp4"}
+{"uid":"14309540226527174080","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the glass to the right side of 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":"2188731906681009793.mp4"}
+{"uid":"17443132804622151231","text":"\u003ctask:success:discrete:True\u003e\nput the boxes on the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the boxes on the rack\n\u003c/PRED\u003e","video":"13802767941450328379.mp4"}
+{"uid":"10512754883427118528","text":"\u003ctask:success:discrete:False\u003e\nPut box 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: Put box on the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display Q: immediate next step? \u003cPRED\u003eA: Put box on the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley 3- move the cup stacks aside Q: next 5 steps? \u003cPRED\u003eA: 1- Put box on the stand 2- Place glass back on place 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut box 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: Put box on the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley 3- move the cup stacks aside Q: immediate next step? \u003cPRED\u003eA: Put box on the stand\n\u003c/PRED\u003e","video":"16124022239431071520.mp4"}
+{"uid":"557249290640465518","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display Q: immediate next step? \u003cPRED\u003eA: put second box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put second box in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put second box in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput second 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley 3- move the cup stacks aside Q: next 5 steps? \u003cPRED\u003eA: 1- put second box in the stand 2- Place glass back on place 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley 3- move the cup stacks aside Q: immediate next step? \u003cPRED\u003eA: put second box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput second 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":"7322191224704080676.mp4"}
+{"uid":"11034658134696494087","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":"2474551098524432254.mp4"}
+{"uid":"16717591519764007433","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table Q: immediate next step? \u003cPRED\u003eA: put 4 box on platform\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 4 box on platform Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display Q: immediate next step? \u003cPRED\u003eA: put 4 box on platform\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table Q: next 5 steps? \u003cPRED\u003eA: 1- put 4 box on platform 2- put the boxes on the rack 3- Place glass back on place 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 4 box on platform Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 4 box on platform\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put 4 box on platform\n\u003c/PRED\u003e","video":"14036914981058873675.mp4"}
+{"uid":"3066853006890266237","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display Q: immediate next step? \u003cPRED\u003eA: place the box in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley 3- move the cup stacks aside Q: immediate next step? \u003cPRED\u003eA: place the box in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley 3- move the cup stacks aside Q: next 5 steps? \u003cPRED\u003eA: 1- place the box in the stand 2- Place glass back on place 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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","video":"13614662979009022068.mp4"}
+{"uid":"14919472674895451326","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the dates 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":"1240955426553934351.mp4"}
+{"uid":"5831717787642157107","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink 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":"11458904825949112544.mp4"}
+{"uid":"2304457816960285278","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace marker in container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"268251390922113013.mp4"}
+{"uid":"5993950124861071089","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley 3- move the cup stacks aside 4- put the boxes on the rack Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup stack near the rack 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup stack near 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: place the cup stack near the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley 3- move the cup stacks aside 4- put the boxes on the rack Q: immediate next step? \u003cPRED\u003eA: place the cup stack near the rack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup stack near the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cup stack near 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: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display Q: immediate next step? \u003cPRED\u003eA: place the cup stack near the rack\n\u003c/PRED\u003e","video":"17069232125767254484.mp4"}
+{"uid":"17483154916189892789","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17723421498275981851.mp4"}
+{"uid":"3779980583575647145","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display Q: immediate next step? \u003cPRED\u003eA: put the boxes on the rack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley 3- move the cup stacks aside Q: immediate next step? \u003cPRED\u003eA: put the boxes on the rack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the boxes on the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the boxes on the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the boxes on the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the boxes on the rack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley 3- move the cup stacks aside Q: next 5 steps? \u003cPRED\u003eA: 1- put the boxes on the rack 2- Place glass back on place 3- done\n\u003c/PRED\u003e","video":"13823527667518840678.mp4"}
+{"uid":"17209027627919190320","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":"16385100619966602573.mp4"}
+{"uid":"1110188472411540816","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":"14118032799549768032.mp4"}
+{"uid":"7862155642241350378","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":"4562606400247955082.mp4"}
+{"uid":"4112519383832609620","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":"14912491800930552245.mp4"}
+{"uid":"17650393766427286585","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep the 1st 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":"610954844969366065.mp4"}
+{"uid":"152582858881168005","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the box on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table Q: immediate next step? \u003cPRED\u003eA: place the box on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the box on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the box on the table 2- move the cup stacks aside 3- put the boxes on the rack 4- Place glass back on place 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display Q: immediate next step? \u003cPRED\u003eA: place the 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 box on the table\n\u003c/PRED\u003e","video":"15125354477741553537.mp4"}
+{"uid":"3655770252773724224","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":"2602287268025981563.mp4"}
+{"uid":"16936151287303364540","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a black 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":"4526329866863875956.mp4"}
+{"uid":"2400194021237665031","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table Q: immediate next step? \u003cPRED\u003eA: Put second juice box on the platform of Kitech.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut second juice box on the platform of Kitech. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put second juice box on the platform of Kitech.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put second juice box on the platform of Kitech. 2- move the cup stacks aside 3- put the boxes on the rack 4- Place glass back on place 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut second juice box on the platform of Kitech. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put second juice box on the platform of Kitech.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display Q: immediate next step? \u003cPRED\u003eA: Put second juice box on the platform of Kitech.\n\u003c/PRED\u003e","video":"13079455664630054556.mp4"}
+{"uid":"9709457419295955845","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"5474009165910363777.mp4"}
+{"uid":"12737221346316864741","text":"\u003ctask:success:discrete:False\u003e\nplace 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley 3- move the cup stacks aside Q: immediate next step? \u003cPRED\u003eA: place the box in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:planning:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display Q: immediate next step? \u003cPRED\u003eA: place the box in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley 3- move the cup stacks aside Q: next 5 steps? \u003cPRED\u003eA: 1- place the box in the stand 2- Place glass back on place 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the box in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the box in the stand\n\u003c/PRED\u003e","video":"8346218670730511703.mp4"}
+{"uid":"11346457356598272290","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 2 stack of cups at 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley 3- move the cup stacks aside 4- put the boxes on the rack Q: next 5 steps? \u003cPRED\u003eA: 1- place the 2 stack of cups at center of the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display. last 20 steps: 1- place the trolley near the table 2- move boxes on the table from trolley 3- move the cup stacks aside 4- put the boxes on the rack Q: immediate next step? \u003cPRED\u003eA: place the 2 stack of cups at center of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 2 stack of cups at 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:planning:freeform\u003e\ncurrent goal is: Stock the golden chai, mate lemon, turmeric amber sun, and moroccan mint Numi tea boxes into the tea box display Q: immediate next step? \u003cPRED\u003eA: place the 2 stack of cups at center of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the 2 stack of cups at center of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the 2 stack of cups at center of the table\n\u003c/PRED\u003e","video":"16238350144612945306.mp4"}
+{"uid":"11051710655185467935","text":"\u003ctask:success:discrete:False\u003e\nput the candy into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the candy into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy into the cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the candy into the cup\n\u003c/PRED\u003e","video":"3152489687870408803.mp4"}
+{"uid":"14574226515468380693","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup 6- put the pistachio in the paper cup 7- put the pistachio into the cup 8- put the pistachio in the paper cup 9- put the orange candy in the paper cup 10- put the paper cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper cup on the table 2- put the napkin on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the paper 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: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup 6- put the pistachio in the paper cup 7- put the pistachio into the cup 8- put the pistachio in the paper cup 9- put the orange candy in the paper cup 10- put the paper cup on the table Q: immediate next step? \u003cPRED\u003eA: put the paper cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper 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: put the paper cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the paper cup on the table\n\u003c/PRED\u003e","video":"7562385613733264630.mp4"}
+{"uid":"3633011790611951772","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":"14638384804011471523.mp4"}
+{"uid":"16367350915222645942","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachio nut into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachio nut into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachio nut into the cup 2- put the pistachio in the paper cup 3- put the pistachio into the cup 4- put the pistachio in the paper cup 5- put the orange candy in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachio nut into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup Q: immediate next step? \u003cPRED\u003eA: put the pistachio nut into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the pistachio nut into the cup\n\u003c/PRED\u003e","video":"15965408608459374209.mp4"}
+{"uid":"15378589297307387829","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachio nut into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachio nut into the cup 2- put the pistachio in the paper cup 3- put the pistachio in the paper cup 4- put the pistachio into the cup 5- put the pistachio in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup Q: immediate next step? \u003cPRED\u003eA: put the pistachio nut into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachio nut into the cup 2- put the pistachio in the paper cup 3- put the pistachio in the paper cup 4- put the pistachio into the cup 5- put the pistachio in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the pistachio nut into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachio nut into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachio nut into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup Q: immediate next step? \u003cPRED\u003eA: put the pistachio nut into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachio nut into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachio nut into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pistachio nut into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachio nut into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the pistachio nut into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pistachio nut into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6771537059951135015.mp4"}
+{"uid":"4173270140445764077","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove 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":"4892592401114405019.mp4"}
+{"uid":"13453945829436435696","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange packet into the cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the orange packet into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange packet into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange packet into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange packet into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the orange packet into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange packet into the cup\n\u003c/PRED\u003e","video":"16078683656762159365.mp4"}
+{"uid":"5962079497741631106","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange candy in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange candy in the paper 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":"5501289373780415948.mp4"}
+{"uid":"5153516391429478067","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green pen 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":"2557403538299912019.mp4"}
+{"uid":"6336951894991286513","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the orange packet into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange packet into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange packet into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup Q: immediate next step? \u003cPRED\u003eA: put the orange packet into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange packet into the cup 2- put the candy into the cup 3- put the pistachio in the paper cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange packet into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1291750466299589999.mp4"}
+{"uid":"9467919901421564792","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":"14438202053777219875.mp4"}
+{"uid":"791157271087253748","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup 6- put the pistachio in the paper cup Q: immediate next step? \u003cPRED\u003eA: put the pistachio into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachio into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup 6- put the pistachio in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachio into the cup 2- put the pistachio in the paper cup 3- put the orange candy in the paper cup 4- put the paper cup on the table 5- put the paper cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachio into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the pistachio into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pistachio into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13145620224379094805.mp4"}
+{"uid":"13023255924806758620","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards a yellow marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4923209388720110994.mp4"}
+{"uid":"2572648160744669318","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange packet into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange packet into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11317486620263822851.mp4"}
+{"uid":"8610461844264756952","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":"6420419367159993311.mp4"}
+{"uid":"385216357253990600","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the candy into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup Q: immediate next step? \u003cPRED\u003eA: put the candy into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy into the cup 2- put the candy into the cup 3- put the pistachio in the paper cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy into the cup\n\u003c/PRED\u003e","video":"4705401216397529423.mp4"}
+{"uid":"10779892915278054346","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachio into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the pistachio into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachio into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup 6- put the pistachio in the paper cup 7- put the pistachio into the cup Q: immediate next step? \u003cPRED\u003eA: put the pistachio into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup 6- put the pistachio in the paper cup 7- put the pistachio into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachio into the cup 2- put the orange candy in the paper cup 3- put the paper cup on the table 4- put the paper cup on the table 5- put the napkin on the table\n\u003c/PRED\u003e","video":"2966103211965201705.mp4"}
+{"uid":"7699746264499366689","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange packet into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup Q: immediate next step? \u003cPRED\u003eA: put the orange packet into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange packet into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the orange packet into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange packet into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange packet into the cup 2- put the pistachio in the paper cup 3- put the pistachio in the paper cup 4- put the pistachio in the paper cup 5- put the pistachio into the cup\n\u003c/PRED\u003e","video":"13771856828855102121.mp4"}
+{"uid":"5372081843440730682","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the pistachio in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup 6- put the pistachio in the paper cup 7- put the pistachio into the cup Q: immediate next step? \u003cPRED\u003eA: put the pistachio in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup 6- put the pistachio in the paper cup 7- put the pistachio into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachio in the paper cup 2- put the orange candy in the paper cup 3- put the paper cup on the table 4- put the paper cup on the table 5- put the napkin on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachio in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachio in the paper cup\n\u003c/PRED\u003e","video":"9779885286696875957.mp4"}
+{"uid":"4588188257964311299","text":"\u003ctask:success:discrete:True\u003e\nput the orange candy in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange candy in the paper cup\n\u003c/PRED\u003e","video":"16307523746848761015.mp4"}
+{"uid":"13845864742194921536","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pistachio into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pistachio into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17740797792896411111.mp4"}
+{"uid":"4237748366056025030","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown 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":"1562266879065115964.mp4"}
+{"uid":"10034363248357083903","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the napkin on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup 6- put the pistachio in the paper cup 7- put the pistachio into the cup 8- put the pistachio in the paper cup 9- put the orange candy in the paper cup 10- put the paper cup on the table 11- put the paper cup on the table 12- put the napkin on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the napkin on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup 6- put the pistachio in the paper cup 7- put the pistachio into the cup 8- put the pistachio in the paper cup 9- put the orange candy in the paper cup 10- put the paper cup on the table 11- put the paper cup on the table 12- put the napkin on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"18105963051866857343.mp4"}
+{"uid":"3751943229844095987","text":"\u003ctask:success:discrete:True\u003e\nput the candy into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candy into the cup\n\u003c/PRED\u003e","video":"15845310935130254243.mp4"}
+{"uid":"14349065079492173327","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange candy in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup 6- put the pistachio in the paper cup 7- put the pistachio into the cup 8- put the pistachio in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange candy in the paper cup 2- put the paper cup on the table 3- put the paper cup on the table 4- put the napkin on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup 6- put the pistachio in the paper cup 7- put the pistachio into the cup 8- put the pistachio in the paper cup Q: immediate next step? \u003cPRED\u003eA: put the orange candy in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange candy in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange candy in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the orange candy in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange candy in the paper cup\n\u003c/PRED\u003e","video":"16904372697643449495.mp4"}
+{"uid":"13678327663908544194","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the pistachio in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachio in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachio in the paper cup 2- put the pistachio in the paper cup 3- put the pistachio into the cup 4- put the pistachio in the paper cup 5- put the orange candy in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup Q: immediate next step? \u003cPRED\u003eA: put the pistachio in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachio in the paper cup\n\u003c/PRED\u003e","video":"13300828852753721229.mp4"}
+{"uid":"3208658150230644409","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the snacks packet in the tray right side in a queue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1244277498106924292.mp4"}
+{"uid":"6442477616528722131","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachio nut into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachio nut into the cup 2- put the pistachio into the cup 3- put the pistachio in the paper cup 4- put the orange candy in the paper cup 5- put the paper cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachio nut into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup Q: immediate next step? \u003cPRED\u003eA: put the pistachio nut into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the pistachio nut into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachio nut into the cup\n\u003c/PRED\u003e","video":"1157792000259518797.mp4"}
+{"uid":"55600516034533146","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange candy into the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10148747001296119930.mp4"}
+{"uid":"7352421443528321537","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away from the 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":"7626022580575804431.mp4"}
+{"uid":"7842550055279147361","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nopen 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":"11515577105722957234.mp4"}
+{"uid":"17985112633820413777","text":"\u003ctask:success:discrete:False\u003e\nput the pistachio in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachio in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachio in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup Q: immediate next step? \u003cPRED\u003eA: put the pistachio in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the pistachio in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachio in the paper cup 2- put the pistachio in the paper cup 3- put the pistachio in the paper cup 4- put the pistachio into the cup 5- put the pistachio in the paper cup\n\u003c/PRED\u003e","video":"6456929457154972065.mp4"}
+{"uid":"4250588084807173615","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange packet into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange packet into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange packet into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the orange packet into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup 6- put the pistachio in the paper cup 7- put the pistachio into the cup 8- put the pistachio in the paper cup Q: immediate next step? \u003cPRED\u003eA: put the orange packet into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange packet into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup 6- put the pistachio in the paper cup 7- put the pistachio into the cup 8- put the pistachio in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange packet into the cup 2- put the paper cup on the table 3- put the paper cup on the table 4- put the napkin on the table 5- done\n\u003c/PRED\u003e","video":"8268192219575186727.mp4"}
+{"uid":"11371502927067372829","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":"14702705627368031672.mp4"}
+{"uid":"4727250153725464635","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":"18006767269463944167.mp4"}
+{"uid":"8636479565038005463","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":"11810590395703034655.mp4"}
+{"uid":"6412932537580890574","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9515216762574058160.mp4"}
+{"uid":"8997240959046487012","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the orange candy in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange candy in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange candy in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup Q: immediate next step? \u003cPRED\u003eA: put the orange candy in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange candy in the paper cup 2- put the candy into the cup 3- put the pistachio in the paper cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange candy in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9604813890807317334.mp4"}
+{"uid":"15593688219917076115","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachio nut into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup 6- put the pistachio in the paper cup Q: immediate next step? \u003cPRED\u003eA: put the pistachio nut into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup 6- put the pistachio in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachio nut into the cup 2- put the pistachio in the paper cup 3- put the orange candy in the paper cup 4- put the paper cup on the table 5- put the paper cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachio nut into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachio nut into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pistachio nut into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the pistachio nut into the cup\n\u003c/PRED\u003e","video":"11491272114865411237.mp4"}
+{"uid":"4941485654112275447","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":"12424818270960875832.mp4"}
+{"uid":"9925424485602599673","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachio in the paper cup 2- put the pistachio into the cup 3- put the pistachio in the paper cup 4- put the orange candy in the paper cup 5- put the paper cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachio in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup Q: immediate next step? \u003cPRED\u003eA: put the pistachio in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the pistachio in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachio in the paper cup\n\u003c/PRED\u003e","video":"14134879476191545189.mp4"}
+{"uid":"16709538120653547271","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachio in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pistachio in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachio in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup 6- put the pistachio in the paper cup Q: immediate next step? \u003cPRED\u003eA: put the pistachio in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup 6- put the pistachio in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachio in the paper cup 2- put the pistachio in the paper cup 3- put the orange candy in the paper cup 4- put the paper cup on the table 5- put the paper cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the pistachio in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachio in the paper cup\n\u003c/PRED\u003e","video":"13001628551234812667.mp4"}
+{"uid":"12860347036858437063","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup Q: immediate next step? \u003cPRED\u003eA: put the pistachio into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachio into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachio into the cup 2- put the pistachio in the paper cup 3- put the pistachio in the paper cup 4- put the pistachio into the cup 5- put the pistachio in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the pistachio into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachio into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pistachio into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8435247919591699937.mp4"}
+{"uid":"18409646019277705752","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white packet into the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9526465284712097809.mp4"}
+{"uid":"14535250664605926560","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow colored marker pen 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":"11937731902868729650.mp4"}
+{"uid":"12129791165443974016","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper cup on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup 6- put the pistachio in the paper cup 7- put the pistachio into the cup 8- put the pistachio in the paper cup 9- put the orange candy in the paper cup Q: immediate next step? \u003cPRED\u003eA: put the paper cup on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the paper cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup 6- put the pistachio in the paper cup 7- put the pistachio into the cup 8- put the pistachio in the paper cup 9- put the orange candy in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper cup on the table 2- put the paper cup on the table 3- put the napkin on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the paper 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":"5791267530139849748.mp4"}
+{"uid":"7851970906082598212","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup Q: immediate next step? \u003cPRED\u003eA: put the pistachio into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachio into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the pistachio into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachio into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachio into the cup 2- put the pistachio in the paper cup 3- put the pistachio into the cup 4- put the pistachio in the paper cup 5- put the orange candy in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1200997695430383856.mp4"}
+{"uid":"2647854943460102071","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop a pen in 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":"15593271491602997404.mp4"}
+{"uid":"16252616170139245294","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange candy in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange candy in the paper 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":"10442291109479738755.mp4"}
+{"uid":"5662064987153776662","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndraw with marker 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":"10825966023417471286.mp4"}
+{"uid":"13694037525741788344","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace sticky notes 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":"6808349154482655636.mp4"}
+{"uid":"5263691007091298969","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the pistachio into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachio into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup Q: immediate next step? \u003cPRED\u003eA: put the pistachio into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachio into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachio into the cup 2- put the pistachio into the cup 3- put the pistachio in the paper cup 4- put the orange candy in the paper cup 5- put the paper cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachio into the cup\n\u003c/PRED\u003e","video":"63716545288702692.mp4"}
+{"uid":"15607627550269577034","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the snack 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":"2695936061870500369.mp4"}
+{"uid":"14152643670090668522","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange candy in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the orange candy in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup Q: immediate next step? \u003cPRED\u003eA: put the orange candy in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange candy in the paper cup 2- put the pistachio in the paper cup 3- put the pistachio in the paper cup 4- put the pistachio in the paper cup 5- put the pistachio into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange candy in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange candy in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5980813884345295836.mp4"}
+{"uid":"6851365960105013168","text":"\u003ctask:success:discrete:True\u003e\nput the paper cup on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the paper cup on the table\n\u003c/PRED\u003e","video":"18234127510996435191.mp4"}
+{"uid":"11783975389712524912","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":"17917616009603712475.mp4"}
+{"uid":"8758736147478643535","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup Q: immediate next step? \u003cPRED\u003eA: put the candy into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the candy into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy into the cup 2- put the pistachio in the paper cup 3- put the pistachio in the paper cup 4- put the pistachio in the paper cup 5- put the pistachio into the cup\n\u003c/PRED\u003e","video":"8872858774969707268.mp4"}
+{"uid":"9090016548030716282","text":"\u003ctask:success:discrete:True\u003e\nput the pistachio in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pistachio in the paper cup\n\u003c/PRED\u003e","video":"13535565745353039967.mp4"}
+{"uid":"1033647079247413188","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the paper cup on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the paper 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":"4951509480216358709.mp4"}
+{"uid":"1441617662399708178","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange candy in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the orange candy in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange candy in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange candy in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the orange candy in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange candy in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup\n\u003c/PRED\u003e","video":"14750440545377583866.mp4"}
+{"uid":"5647428027914945291","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the candy into the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the candy into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14566768273610536428.mp4"}
+{"uid":"12500527150623273991","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker into the container box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3503109976533603031.mp4"}
+{"uid":"10189298275163241369","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"3104875890357245498.mp4"}
+{"uid":"12329791019730223055","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the pistachio nut into the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistachio nut into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup 6- put the pistachio in the paper cup 7- put the pistachio into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistachio nut into the cup 2- put the orange candy in the paper cup 3- put the paper cup on the table 4- put the paper cup on the table 5- put the napkin on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pistachio nut into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup 6- put the pistachio in the paper cup 7- put the pistachio into the cup Q: immediate next step? \u003cPRED\u003eA: put the pistachio nut into the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pistachio nut into the cup\n\u003c/PRED\u003e","video":"9679406628693691317.mp4"}
+{"uid":"11310674264472336595","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":"1229667147613600357.mp4"}
+{"uid":"10904505444472020089","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":"10588349315234641779.mp4"}
+{"uid":"7324727155721270498","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"16843414967876794543.mp4"}
+{"uid":"1422825009898874029","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick another light pink color packet and put it 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":"16638898689860060550.mp4"}
+{"uid":"2835290949524814965","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the napkin on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the napkin on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup 6- put the pistachio in the paper cup 7- put the pistachio into the cup 8- put the pistachio in the paper cup 9- put the orange candy in the paper cup 10- put the paper cup on the table 11- put the paper cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the napkin on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. last 20 steps: 1- put the orange candy in the paper cup 2- put the orange candy in the paper cup 3- put the candy into the cup 4- put the pistachio in the paper cup 5- put the pistachio in the paper cup 6- put the pistachio in the paper cup 7- put the pistachio into the cup 8- put the pistachio in the paper cup 9- put the orange candy in the paper cup 10- put the paper cup on the table 11- put the paper cup on the table Q: immediate next step? \u003cPRED\u003eA: put the napkin on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the napkin on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 some candies and pistachios in separate cups, then bring both to a table in the mk with a napkin. Q: immediate next step? \u003cPRED\u003eA: put the napkin on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the napkin on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13938755187372832060.mp4"}
+{"uid":"18135272481709389235","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":"16982471961607919216.mp4"}
+{"uid":"7580158755425952029","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":"1376861852043550826.mp4"}
+{"uid":"13014075993583613536","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":"14480127683399990896.mp4"}
+{"uid":"8123055542961926064","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen holder 2- place the blue marker in the pen holder 3- place the blue marker in the pen holder 4- place the pen in the pen holder 5- place the red 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 pen in the pen holder\n\u003c/PRED\u003e","video":"7280820975280049368.mp4"}
+{"uid":"13088079143294690593","text":"\u003ctask:success:discrete:True\u003e\nplace the flask in 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 the flask in organizer\n\u003c/PRED\u003e","video":"16055874969102039742.mp4"}
+{"uid":"11657512286770462431","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"8360721689312055960.mp4"}
+{"uid":"11606487283667797156","text":"\u003ctask:success:discrete:False\u003e\nplace the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen holder 2- place the red marker in the pen holder 3- place the pens in the pen holder 4- place the yellow marker in the pen holder 5- place the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e","video":"5711219766009457485.mp4"}
+{"uid":"9403250488615713803","text":"\u003ctask:success:discrete:False\u003e\nplace the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder 8- place the red marker in the pen holder 9- place the pens in the pen holder 10- place the yellow marker in the pen holder 11- place the green marker in the pen holder 12- place the blue marker in the pen holder 13- place the pens in the pen holder 14- place the pen in the pen holder 15- place the pen in the pen holder 16- place the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder 8- place the red marker in the pen holder 9- place the pens in the pen holder 10- place the yellow marker in the pen holder 11- place the green marker in the pen holder 12- place the blue marker in the pen holder 13- place the pens in the pen holder 14- place the pen in the pen holder 15- place the pen in the pen holder 16- place the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- place the pen in the pen holder 4- done\n\u003c/PRED\u003e","video":"10414381656060487776.mp4"}
+{"uid":"3779895562225964060","text":"\u003ctask:success:discrete:True\u003e\nplace the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e","video":"3086121087190102108.mp4"}
+{"uid":"17829936840993518621","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nturn off the lamp Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2787478359715812414.mp4"}
+{"uid":"3870421798746421627","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- place the flask in organizer Q: immediate next step? \u003cPRED\u003eA: place the bowl in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl 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 the bowl 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: Please place kitchen supplies into the holder. last 20 steps: 1- place the flask in organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl in the organizer 2- place the brush in the bowl 3- place the sponge in the organizer 4- place the bar in the organizer 5- place the stack of glasses in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: place the bowl in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl in the organizer\n\u003c/PRED\u003e","video":"17916431223529888025.mp4"}
+{"uid":"17254936792088613018","text":"\u003ctask:success:discrete:False\u003e\nplace the flask in 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 kitchen supplies into the holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the flask in organizer 2- place the bowl in the organizer 3- place the brush in the bowl 4- place the sponge in the organizer 5- place the bar in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: place the flask in organizer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the flask in organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the flask in organizer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the flask in organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the flask in 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":"885990830310910549.mp4"}
+{"uid":"1727501466452314784","text":"\u003ctask:success:discrete:True\u003e\nplace the bar 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 the bar in the organizer\n\u003c/PRED\u003e","video":"16738668402421634288.mp4"}
+{"uid":"2042268662419168151","text":"\u003ctask:success:discrete:True\u003e\nplace the blue marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue marker in the pen holder\n\u003c/PRED\u003e","video":"13404811417357572407.mp4"}
+{"uid":"17136612983745582239","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop brown packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"455092985237484777.mp4"}
+{"uid":"16959715480824123543","text":"\u003ctask:success:discrete:True\u003e\nplace the blue marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue marker in the pen holder\n\u003c/PRED\u003e","video":"2648871878306847437.mp4"}
+{"uid":"14185504560389062007","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back scissor and while coming back can you get me a pencil and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back scissor and while coming back can you get me a pencil and bring it to my desk. last 20 steps: 1- pick up the scissor 2- put scissor in the holder 3- open the almirah 4- pick up a pen 5- put pen on the table 6- close the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pen 2- put pen on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the pen Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back scissor and while coming back can you get me a pencil and bring it to my desk. last 20 steps: 1- pick up the scissor 2- put scissor in the holder 3- open the almirah 4- pick up a pen 5- put pen on the table 6- close the almirah Q: immediate next step? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6368263238002835161.mp4"}
+{"uid":"14737091448332396624","text":"\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: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder 8- place the red marker in the pen holder 9- place the pens in the pen holder 10- place the yellow marker in the pen holder 11- place the green marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the holder Q: immediate next step? \u003cPRED\u003eA: 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 blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder 8- place the red marker in the pen holder 9- place the pens in the pen holder 10- place the yellow marker in the pen holder 11- place the green marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue marker in the pen holder 2- place the pens in the pen holder 3- place the pen in the pen holder 4- place the pen in the pen holder 5- place the pen in the pen holder\n\u003c/PRED\u003e\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: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":"17519069829496319668.mp4"}
+{"uid":"13652201410226247261","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the holder Q: immediate next step? \u003cPRED\u003eA: place the pens 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 pens in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder 8- place the red marker in the pen holder 9- place the pens in the pen holder 10- place the yellow marker in the pen holder 11- place the green marker in the pen holder 12- place the blue marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pens in the pen holder 2- place the pen in the pen holder 3- place the pen in the pen holder 4- place the pen in the pen holder 5- place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder 8- place the red marker in the pen holder 9- place the pens in the pen holder 10- place the yellow marker in the pen holder 11- place the green marker in the pen holder 12- place the blue marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pens in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pens in the pen holder\n\u003c/PRED\u003e","video":"18139355199612511471.mp4"}
+{"uid":"3876471741346581329","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":"12722241161389590387.mp4"}
+{"uid":"17554852095887429900","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder 8- place the red marker in the pen holder 9- place the pens in the pen holder 10- place the yellow marker in the pen holder 11- place the green marker in the pen holder 12- place the blue marker in the pen holder 13- place the pens in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder 8- place the red marker in the pen holder 9- place the pens in the pen holder 10- place the yellow marker in the pen holder 11- place the green marker in the pen holder 12- place the blue marker in the pen holder 13- place the pens in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- place the pen in the pen holder 4- place the pen in the pen holder 5- place the pen in the pen holder\n\u003c/PRED\u003e","video":"1964865808190556217.mp4"}
+{"uid":"3674368459209041205","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the marker 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":"11794996075812922972.mp4"}
+{"uid":"17991118569580198231","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pistas in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16401520323251289941.mp4"}
+{"uid":"7135036459759350912","text":"\u003ctask:success:discrete:False\u003e\nput 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: can you put back scissor and while coming back can you get me a pencil and bring it to my desk. last 20 steps: 1- pick up the scissor 2- put scissor in the holder 3- open the almirah 4- pick up a pen 5- put pen on the table 6- close the almirah 7- pick up the pen Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back scissor and while coming back can you get me a pencil and bring it to my desk. last 20 steps: 1- pick up the scissor 2- put scissor in the holder 3- open the almirah 4- pick up a pen 5- put pen on the table 6- close the almirah 7- pick up the pen Q: next 5 steps? \u003cPRED\u003eA: 1- put pen 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 pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back scissor and while coming back can you get me a pencil and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e","video":"9853601753236549751.mp4"}
+{"uid":"8205084011945209173","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":"4344569924588204113.mp4"}
+{"uid":"5829979575903227274","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":"485730972861292918.mp4"}
+{"uid":"3323787695560519206","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nrotate the stand 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: rotate the stand left side\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: rotate the stand left side\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: rotate the stand left side\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- place the flask in organizer 2- place the bowl in the organizer 3- place the brush in the bowl 4- place the sponge in the organizer 5- place the bar in the organizer 6- place the stack of glasses in the stand 7- stack the glasses 8- place the stack of glasses in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- rotate the stand left side 2- place the stack of glasses in the stand 3- stack the glasses 4- place the stack of glasses in the stand 5- stack the glasses\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- place the flask in organizer 2- place the bowl in the organizer 3- place the brush in the bowl 4- place the sponge in the organizer 5- place the bar in the organizer 6- place the stack of glasses in the stand 7- stack the glasses 8- place the stack of glasses in the stand Q: immediate next step? \u003cPRED\u003eA: rotate the stand left side\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nrotate the stand 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","video":"9286671046630142075.mp4"}
+{"uid":"1633816647885953990","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut plastic fork 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":"8505655214346166720.mp4"}
+{"uid":"16351096259788894730","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red 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 marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the holder Q: immediate next step? \u003cPRED\u003eA: place the red marker in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the red marker in the pen holder 2- place the pens in the pen holder 3- place the yellow marker in the pen holder 4- place the green marker in the pen holder 5- place the blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the red marker in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the red 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","video":"15367736049109336154.mp4"}
+{"uid":"7983296223478051541","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":"8581067581170118522.mp4"}
+{"uid":"11419881117062804374","text":"\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder 8- place the red marker in the pen holder 9- place the pens in 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:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the holder Q: immediate next step? \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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder 8- place the red marker in the pen holder 9- place the pens in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow marker in the pen holder 2- place the green marker in the pen holder 3- place the blue marker in the pen holder 4- place the pens in the pen holder 5- place the pen in the pen holder\n\u003c/PRED\u003e","video":"1870309597943702192.mp4"}
+{"uid":"16872572130749127330","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in 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: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: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\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: put the writing instruments in the holder 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: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue marker in the pen holder 2- place the blue marker in the pen holder 3- place the pen in the pen holder 4- place the red marker in the pen holder 5- place the pens in the pen holder\n\u003c/PRED\u003e","video":"1933591061048102460.mp4"}
+{"uid":"10946319575635017960","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away from 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":"18248016668330502524.mp4"}
+{"uid":"17117107302546542932","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the orange highlighter from 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":"10947490433174737054.mp4"}
+{"uid":"5288763084671091016","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink 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:success:discrete:False\u003e\nplace the pink marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink marker in the pen holder 2- place the pen in the pen holder 3- place the blue marker in the pen holder 4- place the blue marker in the pen holder 5- place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink marker in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pink 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 pink marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the holder Q: immediate next step? \u003cPRED\u003eA: place the pink marker in the pen holder\n\u003c/PRED\u003e","video":"18431311600235809722.mp4"}
+{"uid":"16444087528605440313","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back scissor and while coming back can you get me a pencil and bring it to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the scissor 2- put scissor in the holder 3- open the almirah 4- pick up a pen 5- put pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back scissor and while coming back can you get me a pencil and bring it to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the scissor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the scissor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the scissor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back scissor and while coming back can you get me a pencil and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: pick up the scissor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the scissor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 scissor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"835372573593054444.mp4"}
+{"uid":"1766579260005011009","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: place the stack of glasses in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- place the flask in organizer 2- place the bowl in the organizer 3- place the brush in the bowl 4- place the sponge in the organizer 5- place the bar in the organizer 6- place the stack of glasses in the stand 7- stack the glasses Q: next 5 steps? \u003cPRED\u003eA: 1- place the stack of glasses in the stand 2- rotate the stand left side 3- place the stack of glasses in the stand 4- stack the glasses 5- place the stack of glasses in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the stack of glasses in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the stack of glasses in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the stack of glasses 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 stack of glasses in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- place the flask in organizer 2- place the bowl in the organizer 3- place the brush in the bowl 4- place the sponge in the organizer 5- place the bar in the organizer 6- place the stack of glasses in the stand 7- stack the glasses Q: immediate next step? \u003cPRED\u003eA: place the stack of glasses in the stand\n\u003c/PRED\u003e","video":"2551311469173622671.mp4"}
+{"uid":"2679880861721342277","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back scissor and while coming back can you get me a pencil and bring it to my desk. last 20 steps: 1- pick up the scissor 2- put scissor in the holder 3- open the almirah 4- pick up a pen 5- put pen on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the almirah 2- pick up the pen 3- put pen on the table 4- done\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:planning:freeform\u003e\ncurrent goal is: can you put back scissor and while coming back can you get me a pencil and bring it to my desk 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back scissor and while coming back can you get me a pencil and bring it to my desk. last 20 steps: 1- pick up the scissor 2- put scissor in the holder 3- open the almirah 4- pick up a pen 5- put pen on the table Q: immediate next step? \u003cPRED\u003eA: close the almirah\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: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","video":"8695985505955615225.mp4"}
+{"uid":"4384370946563098153","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- place the flask in organizer 2- place the bowl in the organizer 3- place the brush in the bowl 4- place the sponge in the organizer 5- place the bar in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place the stack of glasses in the stand 2- stack the glasses 3- place the stack of glasses in the stand 4- rotate the stand left side 5- place the stack of glasses in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- place the flask in organizer 2- place the bowl in the organizer 3- place the brush in the bowl 4- place the sponge in the organizer 5- place the bar in the organizer Q: immediate next step? \u003cPRED\u003eA: place the stack of glasses in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the stack of glasses 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: place the stack of glasses in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the stack of glasses in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: place the stack of glasses in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the stack of glasses in the stand\n\u003c/PRED\u003e","video":"13464310701099447751.mp4"}
+{"uid":"178241251230796150","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":"7538639267897277532.mp4"}
+{"uid":"18021830767287247957","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder 8- place the red marker in the pen holder 9- place the pens in the pen holder 10- place the yellow marker in the pen holder 11- place the green marker in the pen holder 12- place the blue marker in the pen holder 13- place the pens in the pen holder 14- place the pen in the pen holder 15- place the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder 8- place the red marker in the pen holder 9- place the pens in the pen holder 10- place the yellow marker in the pen holder 11- place the green marker in the pen holder 12- place the blue marker in the pen holder 13- place the pens in the pen holder 14- place the pen in the pen holder 15- place the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- place the pen in the pen holder 4- place the 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: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11281573317883780152.mp4"}
+{"uid":"8662412878329577027","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":"18125595443711281774.mp4"}
+{"uid":"6583800732009766751","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":"16401067326660100897.mp4"}
+{"uid":"11710193087362558155","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the 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 pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen holder 2- place the pink marker in the pen holder 3- place the pen in the pen holder 4- place the blue marker in the pen holder 5- place the blue marker in the pen holder\n\u003c/PRED\u003e","video":"13196768946940801724.mp4"}
+{"uid":"5806578157001012688","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue pens 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":"17122705770637842969.mp4"}
+{"uid":"10617082151083005111","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12132212615390206843.mp4"}
+{"uid":"2186690356272951844","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":"14773338004173051301.mp4"}
+{"uid":"4206922174713946416","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":"964676752768439935.mp4"}
+{"uid":"1935465438193306470","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- place the flask in organizer 2- place the bowl in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place the brush in the bowl 2- place the sponge in the organizer 3- place the bar in the organizer 4- place the stack of glasses in the stand 5- stack the glasses\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- place the flask in organizer 2- place the bowl in the organizer Q: immediate next step? \u003cPRED\u003eA: place the brush in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the brush 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 brush in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: place the brush in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the brush in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the brush 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":"14074127302163724037.mp4"}
+{"uid":"10460850077471147894","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":"2891503855968516335.mp4"}
+{"uid":"4648143940434513457","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":"17782391880094830330.mp4"}
+{"uid":"2802827308811504529","text":"\u003ctask:success:discrete:False\u003e\nplace the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder 8- place the red marker in the pen holder 9- place the pens in the pen holder 10- place the yellow marker in the pen holder 11- place the green marker in the pen holder 12- place the blue marker in the pen holder 13- place the pens in the pen holder 14- place the pen in the pen holder 15- place the pen in the pen holder 16- place the pen in the pen holder 17- place the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder 8- place the red marker in the pen holder 9- place the pens in the pen holder 10- place the yellow marker in the pen holder 11- place the green marker in the pen holder 12- place the blue marker in the pen holder 13- place the pens in the pen holder 14- place the pen in the pen holder 15- place the pen in the pen holder 16- place the pen in the pen holder 17- place the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- done\n\u003c/PRED\u003e","video":"13269012169112617632.mp4"}
+{"uid":"7135275741219751086","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put scissor in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput scissor 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: can you put back scissor and while coming back can you get me a pencil and bring it to my desk. last 20 steps: 1- pick up the scissor Q: next 5 steps? \u003cPRED\u003eA: 1- put scissor in the holder 2- open the almirah 3- pick up a pen 4- put pen on the table 5- close the almirah\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back scissor and while coming back can you get me a pencil and bring it to my desk. last 20 steps: 1- pick up the scissor Q: immediate next step? \u003cPRED\u003eA: put scissor in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput scissor 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 scissor in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back scissor and while coming back can you get me a pencil and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: put scissor in the holder\n\u003c/PRED\u003e","video":"15928788500368574097.mp4"}
+{"uid":"10399694132390879085","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder 8- place the red marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pens in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the 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\nplace the 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: place the pens in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pens in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder 8- place the red marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pens in the pen holder 2- place the yellow marker in the pen holder 3- place the green marker in the pen holder 4- place the blue marker in the pen holder 5- place the pens in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the holder Q: immediate next step? \u003cPRED\u003eA: place the pens in the pen holder\n\u003c/PRED\u003e","video":"7039385849300048170.mp4"}
+{"uid":"13738767563736881627","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4623131610293643740.mp4"}
+{"uid":"16159441916282055507","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the jar 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":"15633879637742180905.mp4"}
+{"uid":"18145952724610727408","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7701297777524099774.mp4"}
+{"uid":"14628011543519895235","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back scissor and while coming back can you get me a pencil and bring it to my desk. last 20 steps: 1- pick up the scissor 2- put scissor in the holder Q: immediate next step? \u003cPRED\u003eA: open the almirah\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the almirah\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back scissor and while coming back can you get me a pencil and bring it to my desk. last 20 steps: 1- pick up the scissor 2- put scissor in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- open the almirah 2- pick up a pen 3- put pen on the table 4- close the almirah 5- pick up the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back scissor and while coming back can you get me a pencil and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: open the almirah\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen 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: open the almirah\n\u003c/PRED\u003e","video":"15992474568512073364.mp4"}
+{"uid":"5679445905348155885","text":"\u003ctask:success:discrete:True\u003e\nplace the stack of glasses 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 stack of glasses in the stand\n\u003c/PRED\u003e","video":"7866235251132824234.mp4"}
+{"uid":"9461796705211989490","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back scissor and while coming back can you get me a pencil and bring it to my desk. last 20 steps: 1- pick up the scissor 2- put scissor in the holder 3- open the almirah Q: next 5 steps? \u003cPRED\u003eA: 1- pick up a pen 2- put pen on the table 3- close the almirah 4- pick up the pen 5- put pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back scissor and while coming back can you get me a pencil and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: pick up a pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up a pen\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up a pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up a pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up a 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: can you put back scissor and while coming back can you get me a pencil and bring it to my desk. last 20 steps: 1- pick up the scissor 2- put scissor in the holder 3- open the almirah Q: immediate next step? \u003cPRED\u003eA: pick up a pen\n\u003c/PRED\u003e","video":"10899117807148875085.mp4"}
+{"uid":"14739312944556268610","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pens in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the 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":"522439012786395096.mp4"}
+{"uid":"17127977975576265518","text":"\u003ctask:success:discrete:True\u003e\nplace the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e","video":"17881747986031082768.mp4"}
+{"uid":"17865234690959476256","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: 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 blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the red marker in the pen holder 4- place the pens in 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\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:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the holder Q: immediate next step? \u003cPRED\u003eA: place the blue marker in the pen holder\n\u003c/PRED\u003e","video":"2134348498138956131.mp4"}
+{"uid":"11122625848208234831","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":"10078597421902726915.mp4"}
+{"uid":"12781531319857493557","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- place the flask in organizer 2- place the bowl in the organizer 3- place the brush in the bowl 4- place the sponge in the organizer 5- place the bar in the organizer 6- place the stack of glasses in the stand 7- stack the glasses 8- place the stack of glasses in the stand 9- rotate the stand left side 10- place the stack of glasses in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glasses 2- place the stack of glasses in the stand 3- stack the glasses 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- place the flask in organizer 2- place the bowl in the organizer 3- place the brush in the bowl 4- place the sponge in the organizer 5- place the bar in the organizer 6- place the stack of glasses in the stand 7- stack the glasses 8- place the stack of glasses in the stand 9- rotate the stand left side 10- place the stack of glasses in the stand Q: immediate next step? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack 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:affordance:discriminative:discrete:True\u003e\nstack 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":"8684146720427632991.mp4"}
+{"uid":"9972860238339826367","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease the door handle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14855883616740162402.mp4"}
+{"uid":"14290208030066255582","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop orange 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":"5175635653860165510.mp4"}
+{"uid":"1787999151977819920","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput two knife in the left side 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":"16043282091743358523.mp4"}
+{"uid":"2036736479777791694","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5594093490939310437.mp4"}
+{"uid":"15896342380231194348","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":"17452293583832795767.mp4"}
+{"uid":"10398965549232160376","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6681465085779753798.mp4"}
+{"uid":"10963949101916657553","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":"11215518905464959040.mp4"}
+{"uid":"699148591258060564","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":"431609281995537720.mp4"}
+{"uid":"15735325508846239616","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back scissor and while coming back can you get me a pencil and bring it to my desk. last 20 steps: 1- pick up the scissor 2- put scissor in the holder 3- open the almirah 4- pick up a pen Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you put back scissor and while coming back can you get me a pencil and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you put back scissor and while coming back can you get me a pencil and bring it to my desk. last 20 steps: 1- pick up the scissor 2- put scissor in the holder 3- open the almirah 4- pick up a pen Q: next 5 steps? \u003cPRED\u003eA: 1- put pen on the table 2- close the almirah 3- pick up the pen 4- put pen on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pen on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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":"9546976101963781373.mp4"}
+{"uid":"7135939839263251112","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the candies 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":"12284064510008241017.mp4"}
+{"uid":"15639187552534792733","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- place the flask in organizer 2- place the bowl in the organizer 3- place the brush in the bowl 4- place the sponge in the organizer 5- place the bar in the organizer 6- place the stack of glasses in the stand 7- stack the glasses 8- place the stack of glasses in the stand 9- rotate the stand left side 10- place the stack of glasses in the stand 11- stack the glasses 12- place the stack of glasses in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glasses 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- place the flask in organizer 2- place the bowl in the organizer 3- place the brush in the bowl 4- place the sponge in the organizer 5- place the bar in the organizer 6- place the stack of glasses in the stand 7- stack the glasses 8- place the stack of glasses in the stand 9- rotate the stand left side 10- place the stack of glasses in the stand 11- stack the glasses 12- place the stack of glasses in the stand Q: immediate next step? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack 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","video":"2714830400474079206.mp4"}
+{"uid":"14922139722832103176","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace an apple 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":"5441171891607575436.mp4"}
+{"uid":"5041476200808922600","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":"11274956021525107405.mp4"}
+{"uid":"7059005638461780856","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the almirah\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":"16733960493773475161.mp4"}
+{"uid":"8911693923764506779","text":"\u003ctask:success:discrete:False\u003e\nplace the stack of glasses in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- place the flask in organizer 2- place the bowl in the organizer 3- place the brush in the bowl 4- place the sponge in the organizer 5- place the bar in the organizer 6- place the stack of glasses in the stand 7- stack the glasses 8- place the stack of glasses in the stand 9- rotate the stand left side 10- place the stack of glasses in the stand 11- stack the glasses Q: immediate next step? \u003cPRED\u003eA: place the stack of glasses in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the stack of glasses in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the stack of glasses in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- place the flask in organizer 2- place the bowl in the organizer 3- place the brush in the bowl 4- place the sponge in the organizer 5- place the bar in the organizer 6- place the stack of glasses in the stand 7- stack the glasses 8- place the stack of glasses in the stand 9- rotate the stand left side 10- place the stack of glasses in the stand 11- stack the glasses Q: next 5 steps? \u003cPRED\u003eA: 1- place the stack of glasses in the stand 2- stack the glasses 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: place the stack of glasses in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the stack of glasses 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":"2128955746254001307.mp4"}
+{"uid":"11777821758179998223","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the almirah\n\u003c/PRED\u003e","video":"5145380720481473136.mp4"}
+{"uid":"6106457425757924020","text":"\u003ctask:success:discrete:True\u003e\nplace the pink marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pink marker in the pen holder\n\u003c/PRED\u003e","video":"17545570089777274268.mp4"}
+{"uid":"14108826961999521796","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- place the flask in organizer 2- place the bowl in the organizer 3- place the brush in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the sponge in the organizer 2- place the bar in the organizer 3- place the stack of glasses in the stand 4- stack the glasses 5- place the stack of glasses in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sponge in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sponge 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 place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: place the sponge in the organizer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sponge in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sponge 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 place kitchen supplies into the holder. last 20 steps: 1- place the flask in organizer 2- place the bowl in the organizer 3- place the brush in the bowl Q: immediate next step? \u003cPRED\u003eA: place the sponge in the organizer\n\u003c/PRED\u003e","video":"13024792017593928985.mp4"}
+{"uid":"6845530083045030992","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder 8- place the red marker in the pen holder 9- place the pens in the pen holder 10- place the yellow marker in the pen holder 11- place the green marker in the pen holder 12- place the blue marker in the pen holder 13- place the pens in the pen holder 14- place the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- place the pen in the pen holder 4- place the pen in the pen holder 5- place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder 8- place the red marker in the pen holder 9- place the pens in the pen holder 10- place the yellow marker in the pen holder 11- place the green marker in the pen holder 12- place the blue marker in the pen holder 13- place the pens in the pen holder 14- place the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e","video":"5527034258273115834.mp4"}
+{"uid":"8448245754239936317","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: place the stack of glasses in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nHold the left scissors Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 kitchen supplies into the holder. last 20 steps: 1- place the flask in organizer 2- place the bowl in the organizer 3- place the brush in the bowl 4- place the sponge in the organizer 5- place the bar in the organizer 6- place the stack of glasses in the stand 7- stack the glasses 8- place the stack of glasses in the stand 9- rotate the stand left side Q: next 5 steps? \u003cPRED\u003eA: 1- place the stack of glasses in the stand 2- stack the glasses 3- place the stack of glasses in the stand 4- stack the glasses 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the stack of glasses 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 stack of glasses 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: place the stack of glasses in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- place the flask in organizer 2- place the bowl in the organizer 3- place the brush in the bowl 4- place the sponge in the organizer 5- place the bar in the organizer 6- place the stack of glasses in the stand 7- stack the glasses 8- place the stack of glasses in the stand 9- rotate the stand left side Q: immediate next step? \u003cPRED\u003eA: place the stack of glasses in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the stack of glasses in the stand\n\u003c/PRED\u003e","video":"7835545423654708900.mp4"}
+{"uid":"2297895071979822521","text":"\u003ctask:success:discrete:True\u003e\nplace the stack of glasses 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 stack of glasses in the stand\n\u003c/PRED\u003e","video":"16581786177652961874.mp4"}
+{"uid":"11389200126407378556","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npour sprite 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":"1266739559306993376.mp4"}
+{"uid":"13738020125432653664","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder 8- place the red marker in the pen holder 9- place the pens in the pen holder 10- place the yellow marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the green marker in the pen holder 2- place the blue marker in the pen holder 3- place the pens in the pen holder 4- place the pen in the pen holder 5- place the 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 green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the holder Q: immediate next step? \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: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder 8- place the red marker in the pen holder 9- place the pens in the pen holder 10- place the yellow marker in 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\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","video":"18014232361419854220.mp4"}
+{"uid":"11383032821427043234","text":"\u003ctask:success:discrete:False\u003e\nstack 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- place the flask in organizer 2- place the bowl in the organizer 3- place the brush in the bowl 4- place the sponge in the organizer 5- place the bar in the organizer 6- place the stack of glasses in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glasses 2- place the stack of glasses in the stand 3- rotate the stand left side 4- place the stack of glasses in the stand 5- stack the glasses\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- place the flask in organizer 2- place the bowl in the organizer 3- place the brush in the bowl 4- place the sponge in the organizer 5- place the bar in the organizer 6- place the stack of glasses in the stand Q: immediate next step? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glasses\n\u003c/PRED\u003e","video":"8477072021571496075.mp4"}
+{"uid":"9119874785605641062","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a fruit 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":"15049297651735891131.mp4"}
+{"uid":"3114662793035871100","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the seaweed snacks packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16638760285851692437.mp4"}
+{"uid":"8693581398563564576","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1672375199318953234.mp4"}
+{"uid":"5329606193639528579","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue 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\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: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: put the writing instruments in the holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the holder Q: immediate next step? \u003cPRED\u003eA: 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 blue marker in the pen holder\n\u003c/PRED\u003e","video":"12657719918368384049.mp4"}
+{"uid":"1788913758759211362","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":"15141345614075628426.mp4"}
+{"uid":"4600170353642309836","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bar in the organizer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: place the bar in the organizer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bar 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 place kitchen supplies into the holder. last 20 steps: 1- place the flask in organizer 2- place the bowl in the organizer 3- place the brush in the bowl 4- place the sponge in the organizer Q: immediate next step? \u003cPRED\u003eA: place the bar in the organizer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bar 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 the bar in the organizer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- place the flask in organizer 2- place the bowl in the organizer 3- place the brush in the bowl 4- place the sponge in the organizer Q: next 5 steps? \u003cPRED\u003eA: 1- place the bar in the organizer 2- place the stack of glasses in the stand 3- stack the glasses 4- place the stack of glasses in the stand 5- rotate the stand left side\n\u003c/PRED\u003e","video":"17826765760727900360.mp4"}
+{"uid":"6350802418802750524","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder 8- place the red marker in the pen holder 9- place the pens in the pen holder 10- place the yellow marker in the pen holder 11- place the green marker in the pen holder 12- place the blue marker in the pen holder 13- place the pens in the pen holder 14- place the pen in the pen holder 15- place the pen in the pen holder 16- place the pen in the pen holder 17- place the pen in the pen holder 18- place the pen in the pen holder 19- place the 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: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder 8- place the red marker in the pen holder 9- place the pens in the pen holder 10- place the yellow marker in the pen holder 11- place the green marker in the pen holder 12- place the blue marker in the pen holder 13- place the pens in the pen holder 14- place the pen in the pen holder 15- place the pen in the pen holder 16- place the pen in the pen holder 17- place the pen in the pen holder 18- place the pen in the pen holder 19- place the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11748140701334451717.mp4"}
+{"uid":"10937922221468410659","text":"\u003ctask:success:discrete:True\u003e\nplace the blue marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the blue marker in the pen holder\n\u003c/PRED\u003e","video":"10851062759375099741.mp4"}
+{"uid":"230134467493860333","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pens in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the 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":"9837769260324237383.mp4"}
+{"uid":"14061073539360913297","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the stack of glasses in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the stack of glasses 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":"13186879087311536034.mp4"}
+{"uid":"6705365779148569423","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the writing instruments in the holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder 8- place the red marker in the pen holder 9- place the pens in the pen holder 10- place the yellow marker in the pen holder 11- place the green marker in the pen holder 12- place the blue marker in the pen holder 13- place the pens in the pen holder 14- place the pen in the pen holder 15- place the pen in the pen holder 16- place the pen in the pen holder 17- place the pen in the pen holder 18- place the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the 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 pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the writing instruments in the holder. last 20 steps: 1- place the blue marker in the pen holder 2- place the pen in the pen holder 3- place the pink marker in the pen holder 4- place the pen in the pen holder 5- place the blue marker in the pen holder 6- place the blue marker in the pen holder 7- place the pen in the pen holder 8- place the red marker in the pen holder 9- place the pens in the pen holder 10- place the yellow marker in the pen holder 11- place the green marker in the pen holder 12- place the blue marker in the pen holder 13- place the pens in the pen holder 14- place the pen in the pen holder 15- place the pen in the pen holder 16- place the pen in the pen holder 17- place the pen in the pen holder 18- place the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen holder 2- done\n\u003c/PRED\u003e","video":"10442426654171476418.mp4"}
+{"uid":"107506883998319775","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the jasmine green box in the middle row of 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":"8930395537679679558.mp4"}
+{"uid":"17110555911701076163","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pink 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":"8760961647330372746.mp4"}
+{"uid":"8990040798848820222","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the small 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 Q: immediate next step? \u003cPRED\u003eA: put the small 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: put the small 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 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 Q: next 5 steps? \u003cPRED\u003eA: 1- put the small object in the box 2- Put blue scrub in the box 3- Put belt in the box 4- put the marker in the box 5- put the bowl in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the small 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 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":"17911009041059483212.mp4"}
+{"uid":"8500335579279057385","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up 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":"5690311438469400702.mp4"}
+{"uid":"8108399058098731559","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green marker on the board 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: use the supplies cart to distribute the markers to the white boards Q: immediate next step? \u003cPRED\u003eA: place the green marker on the board stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: use the supplies cart to distribute the markers to the white boards. last 20 steps: 1- move the cart near white board 2- place the blue marker on the board stand 3- place the green marker on the board stand 4- place the red marker on the board stand 5- place the black marker on the board stand 6- move the cart near white board 7- place the red marker on the board stand 8- place the blue marker on the board stand Q: immediate next step? \u003cPRED\u003eA: place the green marker on the board stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the green marker on the board stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: use the supplies cart to distribute the markers to the white boards. last 20 steps: 1- move the cart near white board 2- place the blue marker on the board stand 3- place the green marker on the board stand 4- place the red marker on the board stand 5- place the black marker on the board stand 6- move the cart near white board 7- place the red marker on the board stand 8- place the blue marker on the board stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the green marker on the board stand 2- place the black marker on the board stand 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green marker on the board stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the green marker on the board 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":"11486636664871139924.mp4"}
+{"uid":"12779560810929822565","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put scalp massager in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut scalp massager in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box Q: immediate next step? \u003cPRED\u003eA: Put scalp massager 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- drop the packet  into the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put scalp massager in the box 2- Put blue scrub in the box 3- Put belt in the box 4- put the marker in the box 5- 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 scalp massager in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut scalp massager 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 scalp massager in the box\n\u003c/PRED\u003e","video":"15522310779683347371.mp4"}
+{"uid":"3879087941470802930","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue marker on the board stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue marker on the board 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: use the supplies cart to distribute the markers to the white boards Q: immediate next step? \u003cPRED\u003eA: place the blue marker on the board stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: use the supplies cart to distribute the markers to the white boards. last 20 steps: 1- move the cart near white board 2- place the blue marker on the board stand 3- place the green marker on the board stand 4- place the red marker on the board stand 5- place the black marker on the board stand 6- move the cart near white board 7- place the red marker on the board stand Q: immediate next step? \u003cPRED\u003eA: place the blue marker on the board stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue marker on the board 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: use the supplies cart to distribute the markers to the white boards. last 20 steps: 1- move the cart near white board 2- place the blue marker on the board stand 3- place the green marker on the board stand 4- place the red marker on the board stand 5- place the black marker on the board stand 6- move the cart near white board 7- place the red marker on the board stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue marker on the board stand 2- place the green marker on the board stand 3- place the black marker on the board stand 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue marker on the board stand\n\u003c/PRED\u003e","video":"15492127784058612125.mp4"}
+{"uid":"8128797591259019832","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: use the supplies cart to distribute the markers to the white boards Q: immediate next step? \u003cPRED\u003eA: move the cart near white board\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: use the supplies cart to distribute the markers to the white boards. last 20 steps: 1- move the cart near white board 2- place the blue marker on the board stand 3- place the green marker on the board stand 4- place the red marker on the board stand 5- place the black marker on the board stand Q: immediate next step? \u003cPRED\u003eA: move the cart near white board\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the cart near white board\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: use the supplies cart to distribute the markers to the white boards. last 20 steps: 1- move the cart near white board 2- place the blue marker on the board stand 3- place the green marker on the board stand 4- place the red marker on the board stand 5- place the black marker on the board stand Q: next 5 steps? \u003cPRED\u003eA: 1- move the cart near white board 2- place the red marker on the board stand 3- place the blue marker on the board stand 4- place the green marker on the board stand 5- place the black marker on the board stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the cart near white 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the cart near white board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the cart near white 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","video":"14045172070369956300.mp4"}
+{"uid":"15024321004771368088","text":"\u003ctask:success:discrete:False\u003e\nput the plug 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 plug 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 plug 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- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box 7- put the bowl in the box 8- put the black wire in the box Q: immediate next step? \u003cPRED\u003eA: put the plug in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plug 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- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box 7- put the bowl in the box 8- put the black wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the plug in the box 2- Put orange pipe in the box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plug in the box\n\u003c/PRED\u003e","video":"7477279059500788215.mp4"}
+{"uid":"3811321220571826138","text":"\u003ctask:success:discrete:False\u003e\nPut blue scrub 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 blue scrub 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- drop the packet  into the box 3- put  the black object in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put blue scrub in the box 2- Put belt in the box 3- put the marker in the box 4- put the bowl in the box 5- put the black wire in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put blue scrub 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- drop the packet  into the box 3- put  the black object in the box Q: immediate next step? \u003cPRED\u003eA: Put blue scrub in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put blue scrub in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut blue scrub 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":"12361337282511885645.mp4"}
+{"uid":"18044181389340990020","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black wire in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black wire in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box 7- put the bowl in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the black wire in the box 2- Put the plug in the box 3- Put orange pipe in the box 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box 7- put the bowl in the box Q: immediate next step? \u003cPRED\u003eA: put the black wire in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black wire in the box\n\u003c/PRED\u003e\u003ctask: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 floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the black wire in the box\n\u003c/PRED\u003e","video":"16541555278734668081.mp4"}
+{"uid":"1486477593210486041","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":"8988558813808453386.mp4"}
+{"uid":"17247143172722462425","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put orange pipe 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- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box 7- put the bowl in the box 8- put the black wire in the box 9- Put the plug in the box 10- Put orange pipe 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 floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box 7- put the bowl in the box 8- put the black wire in the box 9- Put the plug in the box 10- Put orange pipe in the box Q: immediate next step? \u003cPRED\u003eA: 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: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut orange pipe 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":"5834580861673198735.mp4"}
+{"uid":"2828112210935952237","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box 7- put the bowl in the box 8- put the black wire in the box 9- Put the plug in the box 10- place the wire 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- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box 7- put the bowl in the box 8- put the black wire in the box 9- Put the plug in the box 10- place the wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- 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: done\n\u003c/PRED\u003e\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":"1684616754085132717.mp4"}
+{"uid":"17389694034932603794","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace black 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":"15688783983774850791.mp4"}
+{"uid":"5415796445165745154","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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black wire in the box\n\u003c/PRED\u003e","video":"16591712384161580406.mp4"}
+{"uid":"1092652966031877572","text":"\u003ctask:success:discrete:False\u003e\nput the black object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the black object in the box 2- put the bowl in the box 3- put the black wire in the box 4- Put the plug in the box 5- Put orange pipe in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black object in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box Q: immediate next step? \u003cPRED\u003eA: put 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: put the black object in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black object in the box\n\u003c/PRED\u003e","video":"8127126558831378801.mp4"}
+{"uid":"7381375498917321030","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":"11596351093690837623.mp4"}
+{"uid":"11370296707547787992","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":"5893840604021823139.mp4"}
+{"uid":"4625388930980435682","text":"\u003ctask:success:discrete:True\u003e\nput the black box in the cartoon box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black box in the cartoon box\n\u003c/PRED\u003e","video":"13133740063533628077.mp4"}
+{"uid":"6094568572985892695","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put belt in the box 2- put the bowl in the box 3- put the black wire in the box 4- Put the plug in the box 5- Put orange pipe 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 belt in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put belt in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut belt 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 belt 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- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box Q: immediate next step? \u003cPRED\u003eA: Put belt in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put belt in the box\n\u003c/PRED\u003e","video":"16180146387666412431.mp4"}
+{"uid":"10805418936518935107","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the water bottle in the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16238983654086395222.mp4"}
+{"uid":"6074919729761377620","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- drop the packet  into the box 2- put  the black object in the box 3- Put blue scrub in the box 4- Put belt in the box 5- 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: drop the packet  into the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the packet  into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the packet  into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the packet  into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box Q: immediate next step? \u003cPRED\u003eA: drop the packet  into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the packet  into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5364107628414725717.mp4"}
+{"uid":"5083403050501967703","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put blue scrub in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut blue scrub 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":"8717375860984025007.mp4"}
+{"uid":"4371276142715360271","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black marker on the board 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 marker on the board stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: use the supplies cart to distribute the markers to the white boards. last 20 steps: 1- move the cart near white board 2- place the blue marker on the board stand 3- place the green marker on the board stand 4- place the red marker on the board stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the black marker on the board stand 2- move the cart near white board 3- place the red marker on the board stand 4- place the blue marker on the board stand 5- place the green marker on the board stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: use the supplies cart to distribute the markers to the white boards. last 20 steps: 1- move the cart near white board 2- place the blue marker on the board stand 3- place the green marker on the board stand 4- place the red marker on the board stand Q: immediate next step? \u003cPRED\u003eA: place the black marker on the board stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black marker on the board stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: use the supplies cart to distribute the markers to the white boards Q: immediate next step? \u003cPRED\u003eA: place the black marker on the board stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black marker on the board 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":"13650049939084651309.mp4"}
+{"uid":"3471514448120368276","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":"15151178547784893855.mp4"}
+{"uid":"820019352419040887","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"6749847759801039494.mp4"}
+{"uid":"8002616630616816500","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9322350995582539732.mp4"}
+{"uid":"6157304112374717221","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the sponge in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the sponge in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15781130202191790001.mp4"}
+{"uid":"192973395775830928","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen 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":"836647342263994188.mp4"}
+{"uid":"8794417049506293382","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":"12955609840078851102.mp4"}
+{"uid":"18339401360936534616","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue object in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue object in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue object in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box Q: immediate next step? \u003cPRED\u003eA: put blue object in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue object in box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put blue object in box 2- put the marker in the box 3- put the bowl in the box 4- put the black wire in the box 5- Put the plug 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 blue object in box\n\u003c/PRED\u003e","video":"12577459546310525118.mp4"}
+{"uid":"15434063612674716504","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards 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":"11090236468710170800.mp4"}
+{"uid":"1399927703844167439","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- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box 7- put the bowl in the box 8- put the black wire in the box 9- place the object in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box 7- put the bowl in the box 8- put the black wire in the box 9- place the 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: place the object in the box\n\u003c/PRED\u003e","video":"11719759282785257903.mp4"}
+{"uid":"13933524448794093798","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plug 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":"17527912355232345446.mp4"}
+{"uid":"15231464696640266575","text":"\u003ctask:success:discrete:False\u003e\nopen the left lid 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:affordance:discriminative:discrete:True\u003e\nopen the left lid 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: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 lid 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 lid of the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the left lid of the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the left lid 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 lid of the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box\n\u003c/PRED\u003e","video":"4177846362046804011.mp4"}
+{"uid":"17430408973689838327","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put  the black object in the box 2- Put blue scrub in the box 3- Put belt in the box 4- put the marker in the box 5- 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 floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box Q: immediate next step? \u003cPRED\u003eA: put  the black object in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put  the black object in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put  the black object in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput  the black object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put  the black object in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput  the black object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9880862477095923648.mp4"}
+{"uid":"13608012217264642598","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the knife 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":"5459514448920875190.mp4"}
+{"uid":"4582983168543029506","text":"\u003ctask:success:discrete:True\u003e\nput blue object in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue object in box\n\u003c/PRED\u003e","video":"6715560472431006398.mp4"}
+{"uid":"15739743960112546741","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the small wire in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the small 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":"18174511107799385531.mp4"}
+{"uid":"9561721313442511037","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the small wire in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the small 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box Q: immediate next step? \u003cPRED\u003eA: put the small wire in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the small 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 small 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- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the small wire in the box 2- put the bowl in the box 3- put the black wire in the box 4- Put the plug in the box 5- Put orange pipe 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 wire in the box\n\u003c/PRED\u003e","video":"8831231884103487118.mp4"}
+{"uid":"14258119649458160745","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":"2488856798564577731.mp4"}
+{"uid":"1411128684084938895","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the 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- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box 7- put the bowl in the box 8- put the black wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the object in the box 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: place the 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- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box 7- put the bowl in the box 8- put the black wire in the box Q: immediate next step? \u003cPRED\u003eA: place the object in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the object in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the 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":"13319036225347034983.mp4"}
+{"uid":"10925078639264436480","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":"18095449162179980389.mp4"}
+{"uid":"11153382108022975948","text":"\u003ctask:success:discrete:True\u003e\ndrop the packet  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 packet  into the box\n\u003c/PRED\u003e","video":"11427598360067292931.mp4"}
+{"uid":"15666919449782200062","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":"6482496369125401384.mp4"}
+{"uid":"5692705207909963923","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"2259985752373489196.mp4"}
+{"uid":"8828645286231280021","text":"\u003ctask:success:discrete:True\u003e\nput another black object into the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put another black object into the box\n\u003c/PRED\u003e","video":"15986023444465664574.mp4"}
+{"uid":"15940715096057931123","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the right lid\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 lid\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the right lid\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 right lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the right lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: 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 lid 2- put  the black object in the box 3- Put blue scrub in the box 4- Put belt in the box 5- put the marker in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the right 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":"7615919075154396400.mp4"}
+{"uid":"11063158526401807576","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop paper 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":"17492052126628604302.mp4"}
+{"uid":"17538874342548311438","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: use the supplies cart to distribute the markers to the white boards. last 20 steps: 1- move the cart near white board 2- place the blue marker on the board stand 3- place the green marker on the board stand 4- place the red marker on the board stand 5- place the black marker on the board stand 6- move the cart near white board 7- place the red marker on the board stand 8- place the blue marker on the board stand 9- place the green marker on the board stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the black marker on the board stand 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: use the supplies cart to distribute the markers to the white boards Q: immediate next step? \u003cPRED\u003eA: place the black marker on the board stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black marker on the board 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: use the supplies cart to distribute the markers to the white boards. last 20 steps: 1- move the cart near white board 2- place the blue marker on the board stand 3- place the green marker on the board stand 4- place the red marker on the board stand 5- place the black marker on the board stand 6- move the cart near white board 7- place the red marker on the board stand 8- place the blue marker on the board stand 9- place the green marker on the board stand Q: immediate next step? \u003cPRED\u003eA: place the black marker on the board stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black marker on the board stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black marker on the board stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black marker on the board stand\n\u003c/PRED\u003e","video":"10931156951063936522.mp4"}
+{"uid":"528512609277142140","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the coconut bottle on the left 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":"2825829890487699329.mp4"}
+{"uid":"851100453725089227","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":"16898421766817125693.mp4"}
+{"uid":"3707528016417759318","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"18217937298385058860.mp4"}
+{"uid":"16695229623332676216","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put belt in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut belt 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":"13669682545637657562.mp4"}
+{"uid":"8370375303831139994","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":"13019898788123061311.mp4"}
+{"uid":"14790343913958052244","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:affordance: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 floor, then place items from the desk into the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the box\n\u003c/PRED\u003e\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 black object in the box 3- Put blue scrub in the box 4- Put belt in the box 5- put the marker in the box\n\u003c/PRED\u003e","video":"1492397601927780666.mp4"}
+{"uid":"1892384670401063157","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the salt 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":"14943481824675779954.mp4"}
+{"uid":"3738216114766634584","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop 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: Drop packet 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- Drop packet in the box 2- put  the black object in the box 3- Put blue scrub in the box 4- Put belt in the box 5- put the marker in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Drop packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop 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: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box Q: immediate next step? \u003cPRED\u003eA: Drop packet in the box\n\u003c/PRED\u003e","video":"5736931813909528270.mp4"}
+{"uid":"11017400635494625021","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put  the black object in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput  the black object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13554296158041561476.mp4"}
+{"uid":"10472028770226199615","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box 7- put the bowl in the box 8- put the black wire in the box 9- Put the plug in the box Q: immediate next step? \u003cPRED\u003eA: Put orange pipe in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put orange pipe in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put orange pipe 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 orange pipe in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut orange pipe 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- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box 7- put the bowl in the box 8- put the black wire in the box 9- Put the plug in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put orange pipe in the box 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut orange pipe 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":"4494093821238285594.mp4"}
+{"uid":"15791095968969254927","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace cups inside 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":"15058518252488179267.mp4"}
+{"uid":"5832662414707197430","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass on towel Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13891139551550538081.mp4"}
+{"uid":"3150948906682259311","text":"\u003ctask:success:discrete:True\u003e\nmove the cart near white board Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the cart near white board\n\u003c/PRED\u003e","video":"13072276830130170932.mp4"}
+{"uid":"18233869247267625772","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put small black box into the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put small black box into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput small black 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\nput small black 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: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 small black box into the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box Q: next 5 steps? \u003cPRED\u003eA: 1- put small black box into the box 2- put  the black object in the box 3- Put blue scrub in the box 4- Put belt 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 floor, then place items from the desk into the box. last 20 steps: 1- Open the box Q: immediate next step? \u003cPRED\u003eA: put small black box into the box\n\u003c/PRED\u003e","video":"13723410316630688281.mp4"}
+{"uid":"4601643284022376202","text":"\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:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the bowl in the 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: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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the bowl in the box 2- put the black wire in the box 3- Put the plug in the box 4- Put orange pipe 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- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box Q: immediate next step? \u003cPRED\u003eA: put the bowl in the box\n\u003c/PRED\u003e","video":"14620022133688603460.mp4"}
+{"uid":"17905908679229584820","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pistachio glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9633437971589156197.mp4"}
+{"uid":"8397170979096624661","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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 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:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Open the box\n\u003c/PRED\u003e\u003ctask: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 floor, then place items from the desk into the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt 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":"4215256950864913289.mp4"}
+{"uid":"17564644089572237847","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the clip right side 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":"771412837819294524.mp4"}
+{"uid":"15970151197871007326","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the glass 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":"10571326399114993133.mp4"}
+{"uid":"12228581260609641963","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the small object in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the small 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":"11482646612806208885.mp4"}
+{"uid":"5870331356535562700","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 box in the cartoon 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 black box in the cartoon 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 black box in the cartoon box 2- Put blue scrub in the box 3- Put belt in the box 4- put the marker in the box 5- 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 black box in the cartoon box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black box in the cartoon box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black box in the cartoon box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black box in the cartoon box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14459367272486946083.mp4"}
+{"uid":"17732434416342868572","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the marker in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box Q: immediate next step? \u003cPRED\u003eA: put the marker in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker in the box 2- put the bowl in the box 3- put the black wire in the box 4- Put the plug in the box 5- Put orange pipe 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\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","video":"14991162079646683080.mp4"}
+{"uid":"16201561229635611563","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":"11728697581729564826.mp4"}
+{"uid":"12807294056434651813","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the right lid\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the right 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":"4670624020487748808.mp4"}
+{"uid":"9245617029046856126","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the green marker on the board stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: use the supplies cart to distribute the markers to the white boards. last 20 steps: 1- move the cart near white board 2- place the blue marker on the board stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the green marker on the board stand 2- place the red marker on the board stand 3- place the black marker on the board stand 4- move the cart near white board 5- place the red marker on the board stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: use the supplies cart to distribute the markers to the white boards. last 20 steps: 1- move the cart near white board 2- place the blue marker on the board stand Q: immediate next step? \u003cPRED\u003eA: place the green marker on the board stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the green marker on the board 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: use the supplies cart to distribute the markers to the white boards Q: immediate next step? \u003cPRED\u003eA: place the green marker on the board stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the green marker on the board stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the green marker on the board 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":"17881439193225744373.mp4"}
+{"uid":"9096982992165373297","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":"13097203151588475754.mp4"}
+{"uid":"15224895831648204557","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":"633801402078897175.mp4"}
+{"uid":"12725016975772010236","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":"15115294098615916901.mp4"}
+{"uid":"6472768985411511599","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop 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":"8594817630558699739.mp4"}
+{"uid":"5622748869873151151","text":"\u003ctask:success:discrete:True\u003e\nput small black 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: put small black box into the box\n\u003c/PRED\u003e","video":"1897710597761695163.mp4"}
+{"uid":"8280233611316223749","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the marker into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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":"11523071423752494865.mp4"}
+{"uid":"10231606180097276136","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: use the supplies cart to distribute the markers to the white boards Q: immediate next step? \u003cPRED\u003eA: place the blue marker on the board stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the blue marker on the board stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: use the supplies cart to distribute the markers to the white boards. last 20 steps: 1- move the cart near white board Q: immediate next step? \u003cPRED\u003eA: place the blue marker on the board stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the blue marker on the board stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the blue marker on the board stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: use the supplies cart to distribute the markers to the white boards. last 20 steps: 1- move the cart near white board Q: next 5 steps? \u003cPRED\u003eA: 1- place the blue marker on the board stand 2- place the green marker on the board stand 3- place the red marker on the board stand 4- place the black marker on the board stand 5- move the cart near white board\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the blue marker on the board 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":"2300684620431658279.mp4"}
+{"uid":"2613916042201202951","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":"7450387995734177222.mp4"}
+{"uid":"18039528780337578314","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":"1219075984034674339.mp4"}
+{"uid":"18123435035392394560","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plug in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the plug 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":"17133395306328078185.mp4"}
+{"uid":"4366604707384585338","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the plug in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the plug 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":"11678388396380414696.mp4"}
+{"uid":"14313008666203535071","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black 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":"17346789268981754626.mp4"}
+{"uid":"17807185386950004292","text":"\u003ctask:success:discrete:True\u003e\nopen the left lid 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 lid of the box\n\u003c/PRED\u003e","video":"17839525716707376897.mp4"}
+{"uid":"17226888545811840274","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker into the box 2- put the black wire in the box 3- Put the plug in the box 4- Put orange pipe in the box 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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\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 into the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the marker into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the marker into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box Q: immediate next step? \u003cPRED\u003eA: put the marker into the box\n\u003c/PRED\u003e","video":"2118583136965950123.mp4"}
+{"uid":"18073348966482363521","text":"\u003ctask:success:discrete:True\u003e\nput the black object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black object in the box\n\u003c/PRED\u003e","video":"13713590924930625241.mp4"}
+{"uid":"11923153213100353712","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:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the bowl in the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the bowl in the box 2- put the black wire in the box 3- Put the plug in the box 4- Put orange pipe 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- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box Q: immediate next step? \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","video":"16849285606404361331.mp4"}
+{"uid":"12854506323744115551","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the marker in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: Put the marker in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box Q: immediate next step? \u003cPRED\u003eA: Put the marker in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the marker in the box 2- put the bowl in the box 3- put the black wire in the box 4- Put the plug in the box 5- Put orange pipe 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","video":"13475712221110637552.mp4"}
+{"uid":"2166415911745282658","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pink 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":"6278281155489786661.mp4"}
+{"uid":"4797849074361920340","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the plug in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the plug in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the plug in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box 7- put the bowl in the box 8- put the black wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the plug in the box 2- Put orange pipe 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- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box 7- put the bowl in the box 8- put the black wire in the box Q: immediate next step? \u003cPRED\u003eA: Put the plug 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 plug in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the plug 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":"11633341705856906816.mp4"}
+{"uid":"14489212190305725919","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box 7- put the bowl in the box 8- put the black wire in the box 9- Put the plug in 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: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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box 7- put the bowl in the box 8- put the black wire in the box 9- Put the plug in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow wire in the box 2- 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: put the yellow wire in the box\n\u003c/PRED\u003e","video":"10113919528443692020.mp4"}
+{"uid":"10107346478602610293","text":"\u003ctask:success:discrete:False\u003e\nplace the red marker on the board 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: use the supplies cart to distribute the markers to the white boards. last 20 steps: 1- move the cart near white board 2- place the blue marker on the board stand 3- place the green marker on the board stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the red marker on the board stand 2- place the black marker on the board stand 3- move the cart near white board 4- place the red marker on the board stand 5- place the blue marker on the board stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red marker on the board 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 red marker on the board stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: use the supplies cart to distribute the markers to the white boards Q: immediate next step? \u003cPRED\u003eA: place the red marker on the board stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red marker on the board stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: use the supplies cart to distribute the markers to the white boards. last 20 steps: 1- move the cart near white board 2- place the blue marker on the board stand 3- place the green marker on the board stand Q: immediate next step? \u003cPRED\u003eA: place the red marker on the board stand\n\u003c/PRED\u003e","video":"7569325181652763375.mp4"}
+{"uid":"9050616954785312441","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:success:discrete:False\u003e\nput the sponge in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sponge in the box\n\u003c/PRED\u003e\u003ctask: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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box Q: immediate next step? \u003cPRED\u003eA: put the sponge in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the sponge in the box 2- Put belt in the box 3- put the marker in the box 4- put the bowl in the box 5- put the black wire in the box\n\u003c/PRED\u003e","video":"3358140875533847000.mp4"}
+{"uid":"4469976873776138599","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red pen 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":"5348247828127180350.mp4"}
+{"uid":"14168746888963047341","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 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black wire in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box 7- put the bowl in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the black wire in the box 2- Put orange pipe in the box 3- done\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box 7- put the bowl in the box Q: immediate next step? \u003cPRED\u003eA: put the black wire in the box\n\u003c/PRED\u003e","video":"6520796850112350456.mp4"}
+{"uid":"1394163224919241322","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box Q: next 5 steps? \u003cPRED\u003eA: 1- put another black object into the box 2- Put belt in the box 3- put the marker in the box 4- put the bowl in the box 5- put the black wire in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput another black object into the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put another black object into the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box Q: immediate next step? \u003cPRED\u003eA: put another black object into the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput another black object 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: put another black object into the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put another black object into the box\n\u003c/PRED\u003e","video":"6954047612673188612.mp4"}
+{"uid":"547193814328909227","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":"6797102544210424145.mp4"}
+{"uid":"17548965126175906840","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box 7- put the bowl in the box 8- put the black wire in the box 9- Put the plug in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the wire in the box 2- done\n\u003c/PRED\u003e\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box 7- put the bowl in the box 8- put the black wire in the box 9- Put the plug in the box Q: immediate next step? \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: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: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":"10850506930988371470.mp4"}
+{"uid":"12120469832631592213","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":"18266273867922185253.mp4"}
+{"uid":"13873646138435195113","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the drawer of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17311971434001520730.mp4"}
+{"uid":"13032698538630766996","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the cart near white board\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the cart near white 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","video":"5481721374046485489.mp4"}
+{"uid":"1904627728740744393","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put scalp massager in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut scalp massager 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":"6314047729175792562.mp4"}
+{"uid":"15119120312897257112","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":"16454164123104041676.mp4"}
+{"uid":"8143698689727259870","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \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: done\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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the floor, then place items from the desk into the box. last 20 steps: 1- Open the box 2- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box 7- put the bowl in the box 8- put the black wire in the box 9- Put the plug in the box 10- put the yellow wire 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- drop the packet  into the box 3- put  the black object in the box 4- Put blue scrub in the box 5- Put belt in the box 6- put the marker in the box 7- put the bowl in the box 8- put the black wire in the box 9- Put the plug in the box 10- put the yellow wire in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"18023538917677017148.mp4"}
+{"uid":"11455228288615599757","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the bowl in the box\n\u003c/PRED\u003e","video":"1748543243621632254.mp4"}
+{"uid":"4543689115246561257","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput book 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":"8337263910740351449.mp4"}
+{"uid":"14027078023331877028","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the toffee 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":"16296155366118847693.mp4"}
+{"uid":"4445168859701116546","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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black wire in the box\n\u003c/PRED\u003e","video":"2215859599684914193.mp4"}
+{"uid":"1315347044943581339","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the strainer into the third from the left 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":"18401239351005604643.mp4"}
+{"uid":"2720176686983346566","text":"\u003ctask:success:discrete:False\u003e\nplace the red marker on the board 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: use the supplies cart to distribute the markers to the white boards. last 20 steps: 1- move the cart near white board 2- place the blue marker on the board stand 3- place the green marker on the board stand 4- place the red marker on the board stand 5- place the black marker on the board stand 6- move the cart near white board Q: immediate next step? \u003cPRED\u003eA: place the red marker on the board stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the red marker on the board stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the red marker on the board 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: use the supplies cart to distribute the markers to the white boards Q: immediate next step? \u003cPRED\u003eA: place the red marker on the board stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: use the supplies cart to distribute the markers to the white boards. last 20 steps: 1- move the cart near white board 2- place the blue marker on the board stand 3- place the green marker on the board stand 4- place the red marker on the board stand 5- place the black marker on the board stand 6- move the cart near white board Q: next 5 steps? \u003cPRED\u003eA: 1- place the red marker on the board stand 2- place the blue marker on the board stand 3- place the green marker on the board stand 4- place the black marker on the board stand 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the red marker on the board stand\n\u003c/PRED\u003e","video":"231081927813309153.mp4"}
+{"uid":"5902587852540932879","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\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet into 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":"15895385719865281975.mp4"}
+{"uid":"3398724599836377326","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the coffee cup reverse on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10052422377855053169.mp4"}
+{"uid":"11312897120554687095","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nSlightly move 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":"15404291631676976932.mp4"}
+{"uid":"18173400824272490695","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: move the brown object to the left of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece Q: next 5 steps? \u003cPRED\u003eA: 1- move the brown object to the left of the table 2- Move towards the door 3- Exit the room 4- Move forward 5- drop the cardboard piece  in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the brown object to the left of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the brown object to the left of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the brown object to the left 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: move the brown object to the left of the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece Q: immediate next step? \u003cPRED\u003eA: move the brown object to the left of the table\n\u003c/PRED\u003e","video":"8137374054991093074.mp4"}
+{"uid":"15681352747503330087","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":"9624900151300120732.mp4"}
+{"uid":"10141861633653671990","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward Q: next 5 steps? \u003cPRED\u003eA: 1- move to the left 2- Enter the room 3- move close to the table 4- done\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:planning:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward Q: immediate next step? \u003cPRED\u003eA: move to the left\n\u003c/PRED\u003e","video":"748918187078584928.mp4"}
+{"uid":"18202976959355091460","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm towards the brown object\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove your arm towards the brown object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16098788411683153033.mp4"}
+{"uid":"9066270222116780906","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: place the brown object in the carton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room Q: immediate next step? \u003cPRED\u003eA: place the brown object in the carton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the brown object in the carton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- place the brown object in the carton box 2- move to the left 3- move forward 4- Enter the room 5- move close to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the brown object in the carton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 object in the carton box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the brown object in the carton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13580271821833687028.mp4"}
+{"uid":"13651628376797293480","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins 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\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: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- drop the cardboard piece  in the cardboard box 3- move to the left 4- move forward 5- Enter 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: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e","video":"12560771831459729729.mp4"}
+{"uid":"14405881658368416524","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13160432424567841823.mp4"}
+{"uid":"10677101637108894985","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace that 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":"18110833462711860109.mp4"}
+{"uid":"8471573980261152206","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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward 7- drop the cardboard piece  in the cardboard box 8- move to the left 9- move forward Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the table 2- done\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: please toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: Move close to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward 7- drop the cardboard piece  in the cardboard box 8- move to the left 9- move forward Q: immediate next step? \u003cPRED\u003eA: Move close to the table\n\u003c/PRED\u003e","video":"17493801600930258986.mp4"}
+{"uid":"13548966384900535156","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":"14805268108241204359.mp4"}
+{"uid":"8681255004959073412","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2997779353955684548.mp4"}
+{"uid":"8011503369736558957","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the cardboard piece 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: Drop the cardboard piece in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the cardboard piece in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room Q: immediate next step? \u003cPRED\u003eA: Drop the cardboard piece in the cardboard box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: Drop the cardboard piece in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the cardboard piece in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the cardboard piece in the cardboard box 2- move forward 3- Enter the room 4- move close to the table 5- done\n\u003c/PRED\u003e","video":"1394386886310626723.mp4"}
+{"uid":"13850312403903857263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the bowl beside 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":"16363129601714820846.mp4"}
+{"uid":"17222858779678079568","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward 7- drop the cardboard piece  in the cardboard box 8- move to the left 9- move forward Q: immediate next step? \u003cPRED\u003eA: move close to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove close to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward 7- drop the cardboard piece  in the cardboard box 8- move to the left 9- move forward Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the table 2- done\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: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:planning:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: move close to the table\n\u003c/PRED\u003e","video":"17270201057918743661.mp4"}
+{"uid":"11885139372429959568","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room Q: immediate next step? \u003cPRED\u003eA: drop the cardboard piece  in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cardboard piece  in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the cardboard piece  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: please toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: drop the cardboard piece  in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cardboard piece  in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cardboard piece  in the cardboard box 2- move forward 3- Enter the room 4- move close to the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the cardboard piece  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":"6556338220110581843.mp4"}
+{"uid":"14454819730536480050","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":"2726105458904262633.mp4"}
+{"uid":"12322532915223713248","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the cardboard piece\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the cardboard piece Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18138624034820923587.mp4"}
+{"uid":"3454243092454331948","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the door 2- Move forward 3- drop the cardboard piece  in the cardboard box 4- move to the left 5- move forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table Q: immediate next step? \u003cPRED\u003eA: move towards the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards 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:planning:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: move towards the door\n\u003c/PRED\u003e","video":"8245494022534865344.mp4"}
+{"uid":"17300000218522563893","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the stand on the center of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7316669082859275043.mp4"}
+{"uid":"6182714046866964316","text":"\u003ctask:success:discrete:True\u003e\nMove the cardboard piece to 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move the cardboard piece to the left side of the table\n\u003c/PRED\u003e","video":"8636405486396611176.mp4"}
+{"uid":"14718764540424950637","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black 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":"3554052592884223044.mp4"}
+{"uid":"1601518017965101896","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 1pistachio in 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":"15281337520941366034.mp4"}
+{"uid":"4800004118558462869","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":"17252396827049227065.mp4"}
+{"uid":"3120622627808163660","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":"13187820350345568687.mp4"}
+{"uid":"2424739137891739037","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":"7718574879854439145.mp4"}
+{"uid":"5781704791091031793","text":"\u003ctask:success:discrete:True\u003e\nmove towards 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: move towards the door\n\u003c/PRED\u003e","video":"16837093960778514505.mp4"}
+{"uid":"2813587742973973032","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward 7- drop the cardboard piece  in the cardboard box Q: immediate next step? \u003cPRED\u003eA: move your arm forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove 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:discriminative:discrete:True\u003e\nmove 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:planning:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: move your arm forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward 7- drop the cardboard piece  in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm forward 2- move close to the table 3- done\n\u003c/PRED\u003e","video":"17081153905921558597.mp4"}
+{"uid":"7063323412052213686","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":"2937672364276759807.mp4"}
+{"uid":"16636790617437121308","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move close to the cardboard piece\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove close to the cardboard piece Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16587855976961123675.mp4"}
+{"uid":"4804647924073447386","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- Move forward 3- drop the cardboard piece  in the cardboard box 4- move to the left 5- move forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nExit the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins 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: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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e","video":"14348319558697435430.mp4"}
+{"uid":"16628187281643187014","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the right pen from the mouse 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":"4712779937882316942.mp4"}
+{"uid":"4545642516101043085","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward 7- drop the cardboard piece  in the cardboard box 8- move to the left Q: next 5 steps? \u003cPRED\u003eA: 1- enter the room 2- done\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: please toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward 7- drop the cardboard piece  in the cardboard box 8- move to the left 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","video":"9935855856682941082.mp4"}
+{"uid":"3360566129831991577","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":"11896454729030473071.mp4"}
+{"uid":"12838965663362600787","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3727049895672554786.mp4"}
+{"uid":"8273807874751412753","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the cardboard piece Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: pick the cardboard piece\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the cardboard piece\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table Q: immediate next step? \u003cPRED\u003eA: pick the cardboard piece\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the cardboard piece Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the cardboard piece\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the cardboard piece 2- Move towards the door 3- Exit the room 4- Move forward 5- drop the cardboard piece  in the cardboard box\n\u003c/PRED\u003e","video":"16267155566799435522.mp4"}
+{"uid":"9750511693866698251","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nseparate the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2930390863631868361.mp4"}
+{"uid":"16215394490820191721","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":"2306679825207808555.mp4"}
+{"uid":"10666641522511817418","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"9901888553526566479.mp4"}
+{"uid":"12262153071240721580","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":"12778158353573988544.mp4"}
+{"uid":"10651316548152283318","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":"9021152019891408796.mp4"}
+{"uid":"3182022410326361044","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: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: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room Q: immediate next step? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: Move forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- Move forward 2- move to the left 3- move forward 4- Enter the room 5- move close to the table\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","video":"6327649949220204582.mp4"}
+{"uid":"10954596990198565407","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward 7- drop the cardboard piece  in the cardboard box 8- move to the left Q: next 5 steps? \u003cPRED\u003eA: 1- Enter the room 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nEnter the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward 7- drop the cardboard piece  in the cardboard box 8- move to the left Q: immediate next step? \u003cPRED\u003eA: Enter the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins 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","video":"8928232836937275407.mp4"}
+{"uid":"4042590067651154137","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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward 7- drop the cardboard piece  in the cardboard box 8- move to the left 9- move forward 10- Move close to the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward 7- drop the cardboard piece  in the cardboard box 8- move to the left 9- move forward 10- Move close to the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"6192647572334838004.mp4"}
+{"uid":"3332033283542104745","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":"15669209479662920295.mp4"}
+{"uid":"9082467919902496612","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brown object in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brown object in the cardboard box 2- move to the left 3- move forward 4- Enter the room 5- move close to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room Q: immediate next step? \u003cPRED\u003eA: drop the brown object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brown object 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\ndrop the brown object 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: please toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: drop the brown object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brown object in the cardboard box\n\u003c/PRED\u003e","video":"13600920212827939083.mp4"}
+{"uid":"407445024682541969","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPun a chocolate in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3003221913531711653.mp4"}
+{"uid":"10334435086486906290","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move close to the cardboard piece\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove close to the cardboard piece Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15243860065949769962.mp4"}
+{"uid":"8714232529460514714","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table Q: immediate next step? \u003cPRED\u003eA: Move towards the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: Move towards the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards 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\nMove towards 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: Move towards the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the door 2- Move forward 3- drop the cardboard piece  in the cardboard box 4- move to the left 5- move forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the door\n\u003c/PRED\u003e","video":"13763579125095280014.mp4"}
+{"uid":"10816625682300626588","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm forward\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove 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":"12948918447934008094.mp4"}
+{"uid":"1669477204231672772","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the cardboard piece  to the left side of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the cardboard piece  to 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":"8545970178065238996.mp4"}
+{"uid":"9424516597371758542","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrag the yellow 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: get into the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nget 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","video":"17955478991704318853.mp4"}
+{"uid":"13591768537452573950","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brown object in the cardboard box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward Q: immediate next step? \u003cPRED\u003eA: drop the brown object in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brown object in the cardboard box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brown object in the cardboard box 2- move forward 3- Enter the room 4- move close to the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brown object 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: please toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: drop the brown object in the cardboard box\n\u003c/PRED\u003e","video":"10792474218920210735.mp4"}
+{"uid":"4739061622386244671","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the cardboard piece in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the cardboard piece 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":"8182998347176629071.mp4"}
+{"uid":"734914831736039741","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":"9476882565923507397.mp4"}
+{"uid":"14295496730778615348","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the cardboard piece 2- Move towards the door 3- Exit the room 4- Move forward 5- drop the cardboard piece  in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the cardboard piece Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the cardboard piece Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table Q: immediate next step? \u003cPRED\u003eA: Pick up the cardboard piece\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the cardboard piece\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: Pick up the cardboard piece\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the cardboard piece\n\u003c/PRED\u003e","video":"9896092874045184707.mp4"}
+{"uid":"1488383779972894599","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward 7- drop the cardboard piece  in the cardboard box 8- move to the left Q: next 5 steps? \u003cPRED\u003eA: 1- Move forward 2- move close to the table 3- done\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward 7- drop the cardboard piece  in the cardboard box 8- move to the left 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:planning:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins 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","video":"13523504250206720553.mp4"}
+{"uid":"8202755447269327845","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece Q: immediate next step? \u003cPRED\u003eA: Move the cardboard piece to the left side of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the cardboard piece to the left side of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece Q: next 5 steps? \u003cPRED\u003eA: 1- Move the cardboard piece to the left side of the table 2- pick the brown object from the table 3- Move towards the door 4- Exit the room 5- Move forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: Move the cardboard piece to the left side of the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the cardboard piece to the left side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the cardboard piece to the left side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the cardboard piece to the left side of the table\n\u003c/PRED\u003e","video":"3773993934511515484.mp4"}
+{"uid":"2126355341047885782","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"15659428060178074960.mp4"}
+{"uid":"4628124115453413033","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":"17970940491081550821.mp4"}
+{"uid":"13900204710358560999","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the bottle 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":"4137126681197863614.mp4"}
+{"uid":"10953842570456023442","text":"\u003ctask:success:discrete:True\u003e\ndrop the cardboard piece  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: drop the cardboard piece  in the cardboard box\n\u003c/PRED\u003e","video":"12066848479476691269.mp4"}
+{"uid":"2318189921688151511","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm towards the brown object\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move your arm towards the brown object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm towards the brown object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm towards the brown 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 toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: move your arm towards the brown object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm towards the brown object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm towards the brown object 2- pick the brown object from the table 3- Move towards the door 4- Exit the room 5- Move forward\n\u003c/PRED\u003e","video":"18164026503408944425.mp4"}
+{"uid":"8844143584618293726","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":"1699646392120538880.mp4"}
+{"uid":"15119748051636703894","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":"4354548992334380038.mp4"}
+{"uid":"8489734490217826838","text":"\u003ctask:success:discrete:True\u003e\nplace the brown object in the carton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the brown object in the carton box\n\u003c/PRED\u003e","video":"14951248839022151479.mp4"}
+{"uid":"5968925078372011902","text":"\u003ctask:success:discrete:True\u003e\ndrop the brown object 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: drop the brown object in the cardboard box\n\u003c/PRED\u003e","video":"8405407451619110049.mp4"}
+{"uid":"11483786195033930699","text":"\u003ctask:success:discrete:False\u003e\nget 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward 7- drop the cardboard piece  in the cardboard box 8- move to the left Q: immediate next step? \u003cPRED\u003eA: get into the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: get into the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: get into the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nget 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: get into the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward 7- drop the cardboard piece  in the cardboard box 8- move to the left Q: next 5 steps? \u003cPRED\u003eA: 1- get into the room 2- move close to the table 3- done\n\u003c/PRED\u003e","video":"4342754970306171331.mp4"}
+{"uid":"12839358014775206121","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16430395236051643446.mp4"}
+{"uid":"5831300114498532105","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the brown object from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the brown object 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":"7325589686705056981.mp4"}
+{"uid":"5370237439201797810","text":"\u003ctask:success:discrete:True\u003e\npick the cardboard piece Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 piece\n\u003c/PRED\u003e","video":"6405600168495611388.mp4"}
+{"uid":"16280888438480108211","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward 7- drop the cardboard piece  in the cardboard box 8- move to the left 9- move forward 10- move close to the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward 7- drop the cardboard piece  in the cardboard box 8- move to the left 9- move forward 10- move close to the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: done\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":"14065719519634348993.mp4"}
+{"uid":"16293332261674851785","text":"\u003ctask:success:discrete:True\u003e\npick the brown object 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 brown object from the table\n\u003c/PRED\u003e","video":"13031052205607101229.mp4"}
+{"uid":"14501208166971648640","text":"\u003ctask:success:discrete:True\u003e\ndrop the brown object 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: drop the brown object in the cardboard box\n\u003c/PRED\u003e","video":"16421594863529883130.mp4"}
+{"uid":"15301426253038035019","text":"\u003ctask:success:discrete:True\u003e\npick the brown object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the brown object\n\u003c/PRED\u003e","video":"1173854239624742254.mp4"}
+{"uid":"5841429405965381902","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table Q: immediate next step? \u003cPRED\u003eA: pick the brown object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the brown object\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the brown object 2- Exit the room 3- Move forward 4- drop the cardboard piece  in the cardboard box 5- move to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the brown object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the brown 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 toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: pick the brown object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the brown object\n\u003c/PRED\u003e","video":"13060231614396644644.mp4"}
+{"uid":"9004821202570441938","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the brown object 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 object from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the brown object from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the brown object from the table 2- Exit the room 3- Move forward 4- drop the cardboard piece  in the cardboard box 5- move to the left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table Q: immediate next step? \u003cPRED\u003eA: pick the brown object from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: pick the brown object from the table\n\u003c/PRED\u003e","video":"10104977151652177612.mp4"}
+{"uid":"11161509674821295518","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room Q: next 5 steps? \u003cPRED\u003eA: 1- move forward 2- move to the left 3- move forward 4- Enter the room 5- move close to the table\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:planning:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 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\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","video":"4635365539500059050.mp4"}
+{"uid":"10668124467014767811","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the brown object from the table 2- Move towards the door 3- Exit the room 4- Move forward 5- drop the cardboard piece  in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the brown object from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table Q: immediate next step? \u003cPRED\u003eA: pick the brown object from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: pick the brown object from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the brown object 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 object from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the brown object 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":"13392549221875862852.mp4"}
+{"uid":"1409652902742980465","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward 7- drop the cardboard piece  in the cardboard box Q: immediate next step? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward 7- drop the cardboard piece  in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- move forward 2- move close to the table 3- done\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: please toss the cardboard piece on the table into one of the speed pack bins 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:discriminative:discrete:True\u003e\nmove forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move forward\n\u003c/PRED\u003e","video":"18130813477364969861.mp4"}
+{"uid":"7204099169477876555","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the coffee 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":"1247362687861442634.mp4"}
+{"uid":"8797484965173510748","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the  middle bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2180159900316582653.mp4"}
+{"uid":"10620661687945787160","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the cardboard piece  to the left side of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the cardboard piece  to the left side of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move the cardboard piece  to the left side of the table 2- pick the brown object from the table 3- Move towards the door 4- Exit the room 5- Move forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \u003cPRED\u003eA: move the cardboard piece  to the left side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the cardboard piece  to the left side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move the cardboard piece  to the left side of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the cardboard piece  to the left side of the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4931292595103241917.mp4"}
+{"uid":"8371394314501319150","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:planning:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins Q: immediate next step? \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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward 7- drop the cardboard piece  in the cardboard box 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please toss the cardboard piece on the table into one of the speed pack bins. last 20 steps: 1- move close to the cardboard piece 2- move the cardboard piece  to the left side of the table 3- pick the brown object from the table 4- Move towards the door 5- Exit the room 6- Move forward 7- drop the cardboard piece  in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the left 2- Enter the room 3- move close to the table 4- done\n\u003c/PRED\u003e","video":"5491002581448917543.mp4"}
+{"uid":"2562768807071734560","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":"6520241384179369792.mp4"}
+{"uid":"1161887916631255659","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":"18062400634647717235.mp4"}
+{"uid":"6165971896862848084","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp 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":"11787949073475323445.mp4"}
+{"uid":"2136091632727626954","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: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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray 9- place the packet in the tray 10- place the packet in the tray 11- put 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: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 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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray 9- place the packet in the tray 10- place the packet in the tray 11- put the packet in 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","video":"2881496527935355509.mp4"}
+{"uid":"12150574420647956729","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":"13203442625604703365.mp4"}
+{"uid":"4837476260960842640","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put holder on black stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput holder on black stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10849331269991849983.mp4"}
+{"uid":"2814821972386967475","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":"9302121212436017128.mp4"}
+{"uid":"4034175123099579963","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":"10007294852157024935.mp4"}
+{"uid":"13488282515580427386","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 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: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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the packet in the tray 3- place the 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 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":"12349116510997298083.mp4"}
+{"uid":"15401423674409040445","text":"\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: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: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 brown 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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet in the bowl 2- put the packet in the tray 3- place the white packet in the tray 4- place the packet in the tray 5- place the 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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet in the bowl\n\u003c/PRED\u003e","video":"8668503891925377666.mp4"}
+{"uid":"4564062742480672754","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":"13381307823768996914.mp4"}
+{"uid":"11035097147296658264","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":"2964486547561848093.mp4"}
+{"uid":"32963684935400638","text":"\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: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: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: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the orange 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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange 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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange packet in the bowl 2- place the packet in the tray 3- place the packet in the tray 4- put the packet in the tray 5- place the packet in the tray\n\u003c/PRED\u003e","video":"2537490171559520111.mp4"}
+{"uid":"479230342015416728","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put bottle on black stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput bottle on black stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16060782381777149546.mp4"}
+{"uid":"8469953041172667393","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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":"16128948189249429285.mp4"}
+{"uid":"432932080087305187","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":"9449104405925321489.mp4"}
+{"uid":"10348460786433197223","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput animal toy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8835165974455957756.mp4"}
+{"uid":"5844397930644260083","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: 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 tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray 9- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask: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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray 9- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the packet in the tray 3- place the packet in the tray 4- done\n\u003c/PRED\u003e","video":"3469833476739862713.mp4"}
+{"uid":"590870685405378879","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: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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray 9- place the 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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray 9- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the bowl 2- place the packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: 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: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":"6149240622264318344.mp4"}
+{"uid":"1194599588181289888","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the 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- put the plastic fork in the holder Q: immediate next step? \u003cPRED\u003eA: put the 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 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- put the plastic fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the packet in the tray 5- put the  packet in the tray\n\u003c/PRED\u003e","video":"7693301865816099671.mp4"}
+{"uid":"4904185382488443001","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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray 9- place the packet in the tray 10- place the packet in the tray 11- put the packet in the tray 12- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the 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\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: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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray 9- place the packet in the tray 10- place the packet in the tray 11- put the packet in the tray 12- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"4586131665483438800.mp4"}
+{"uid":"16585892923650026269","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: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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the plastic fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the packet in the tray 5- put 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 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: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- put the plastic fork in the holder Q: immediate next step? \u003cPRED\u003eA: place the 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 the fork in the holder\n\u003c/PRED\u003e","video":"13565150543939915481.mp4"}
+{"uid":"4555925046259707538","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose left 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":"17308282439444256464.mp4"}
+{"uid":"16717714127353400207","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 orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange 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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the orange 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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange packet in the bowl 2- put the packet in the tray 3- place the packet in the tray 4- 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: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","video":"990572688626068633.mp4"}
+{"uid":"15006988313101227320","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":"12627084639415852524.mp4"}
+{"uid":"17376383520632409868","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: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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the 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: none 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:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place the fork 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":"6940643469168995367.mp4"}
+{"uid":"573443295004847143","text":"\u003ctask:success:discrete:True\u003e\nput 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: put the fork in the holder\n\u003c/PRED\u003e","video":"1235816205967624944.mp4"}
+{"uid":"14676950658702166195","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":"4830357948575619628.mp4"}
+{"uid":"2318654286464203398","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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray 9- place the packet in the tray 10- place the packet in the tray 11- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask: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 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: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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray 9- place the packet in the tray 10- place the packet in the tray 11- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e","video":"8951664760558644550.mp4"}
+{"uid":"9490496741115833609","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":"11849703189847743118.mp4"}
+{"uid":"11188930129837403320","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the plastic fork in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask: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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange packet in the tray 2- put the  packet in the tray 3- put the packet in the tray 4- place the white packet in the tray 5- place the 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 orange 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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e","video":"815791776496601274.mp4"}
+{"uid":"14863366124382243210","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":"12004010869422368396.mp4"}
+{"uid":"14339181527645053066","text":"\u003ctask:success:discrete:True\u003e\nplace the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e","video":"9563606973178783680.mp4"}
+{"uid":"16985461425665222276","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up numi 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":"7100394897966733720.mp4"}
+{"uid":"18323713259815265730","text":"\u003ctask:success:discrete:True\u003e\nput 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: put the fork in the holder\n\u003c/PRED\u003e","video":"40515512001464867.mp4"}
+{"uid":"2353544085981311740","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":"17396603046066504111.mp4"}
+{"uid":"10788564959255295591","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: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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask: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 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: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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- place the packet in the tray 3- put the packet in the tray 4- place the packet in the tray 5- done\n\u003c/PRED\u003e","video":"11814842439614163771.mp4"}
+{"uid":"7874484031445121439","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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the 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: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: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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet in the bowl 2- place the packet in the tray 3- put the packet in the tray 4- place the 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 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","video":"17442442477415103208.mp4"}
+{"uid":"15548540452238653357","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 fork in the holder\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: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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the fork in the holder 2- put the packet in the tray 3- put the  packet in the tray 4- put the packet in the tray 5- place the white 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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 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":"11051721126189836102.mp4"}
+{"uid":"14668068909821322905","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: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: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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic fork in the holder 2- put the  packet in the tray 3- put the packet in the tray 4- place the white packet in the tray 5- place the 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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder Q: immediate next step? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic fork in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e","video":"17393565055277752936.mp4"}
+{"uid":"14277488033970238165","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":"718741831785880682.mp4"}
+{"uid":"1924412441082685650","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":"13475556174545837902.mp4"}
+{"uid":"15769337201224061144","text":"\u003ctask:success:discrete:False\u003e\nput 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\nput 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: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 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 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 fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e","video":"12661919272591149002.mp4"}
+{"uid":"2663110380962244142","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put bottle on black stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput bottle on black stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8287685685537260788.mp4"}
+{"uid":"3252859212902618031","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"860358609159261150.mp4"}
+{"uid":"10710535017581116596","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white box 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":"3980892279450952504.mp4"}
+{"uid":"10147306816505474148","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: 1- put holder on black stand 2- put bottle on black stand 3- put bottle on black stand 4- put bottle on black stand 5- put bottle on black stand Q: next 5 steps? \u003cPRED\u003eA: 1- put bottle on black stand 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put bottle on black stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat Q: immediate next step? \u003cPRED\u003eA: put bottle on black stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: 1- put holder on black stand 2- put bottle on black stand 3- put bottle on black stand 4- put bottle on black stand 5- put bottle on black stand Q: immediate next step? \u003cPRED\u003eA: put bottle on black stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put bottle on black stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput bottle on black stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16712194550894695194.mp4"}
+{"uid":"2463879625067426989","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink 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":"12859889151146491355.mp4"}
+{"uid":"2185432895314195032","text":"\u003ctask:success:discrete:True\u003e\nplace the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e","video":"11416491425167474201.mp4"}
+{"uid":"14805385274152071742","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 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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- put the  packet in the tray 3- put the packet in the tray 4- place the white packet in the tray 5- place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 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: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","video":"7162334030308257821.mp4"}
+{"uid":"17321307490376017749","text":"\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: put snacks into the large white bowl, and put the forks back into the black cup. 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: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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder Q: immediate next step? \u003cPRED\u003eA: put the orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange 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: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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange packet in the bowl 2- put the packet in the tray 3- place the white packet in the tray 4- place the packet in the tray 5- place the packet in the tray\n\u003c/PRED\u003e","video":"12792675148893548452.mp4"}
+{"uid":"9107542441019709451","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":"6831478330172148917.mp4"}
+{"uid":"6268707298167567400","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: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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray 9- place the packet in the tray 10- 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\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: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place the 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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray 9- place the packet in the tray 10- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"12104469349846986645.mp4"}
+{"uid":"11453007901759584031","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":"4290422691032583479.mp4"}
+{"uid":"4493788521591635884","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat Q: immediate next step? \u003cPRED\u003eA: put bottle on black stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put bottle on black stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put bottle on black stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput bottle on black stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: 1- put holder on black stand 2- put bottle on black stand 3- put bottle on black stand 4- put bottle on black stand Q: next 5 steps? \u003cPRED\u003eA: 1- put bottle on black stand 2- put bottle on black stand 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: 1- put holder on black stand 2- put bottle on black stand 3- put bottle on black stand 4- put bottle on black stand Q: immediate next step? \u003cPRED\u003eA: put bottle on black stand\n\u003c/PRED\u003e","video":"4532375880506639900.mp4"}
+{"uid":"17031378790695969539","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":"1713298034418878773.mp4"}
+{"uid":"2552985594753593978","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","video":"18283085535616024164.mp4"}
+{"uid":"3774787273278853022","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelocate the bottom right fork into the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14657472635133061504.mp4"}
+{"uid":"1519694664846711582","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put holder on black stand 2- put bottle on black stand 3- put bottle on black stand 4- put bottle on black stand 5- put bottle on black stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put holder on black stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput holder on black stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput holder on black stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put holder on black stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat Q: immediate next step? \u003cPRED\u003eA: put holder on black stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put holder on black stand\n\u003c/PRED\u003e","video":"2211883455086250887.mp4"}
+{"uid":"16782975863106637934","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":"4041104527150825087.mp4"}
+{"uid":"6930993992241611002","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: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 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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- place the white packet in the tray 3- place the packet in the tray 4- place the packet in the tray 5- put 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: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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"13342566501715409893.mp4"}
+{"uid":"16128566284287999242","text":"\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: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 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: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: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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray 9- place the packet in the tray 10- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet in the bowl\n\u003c/PRED\u003e\u003ctask: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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray 9- place the packet in the tray 10- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet in the bowl 2- done\n\u003c/PRED\u003e","video":"15877232173387623405.mp4"}
+{"uid":"10290902315926570766","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput bottle on black stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put bottle on black stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put bottle on black stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: 1- put holder on black stand 2- put bottle on black stand Q: next 5 steps? \u003cPRED\u003eA: 1- put bottle on black stand 2- put bottle on black stand 3- put bottle on black stand 4- put bottle on black stand 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat Q: immediate next step? \u003cPRED\u003eA: put bottle on black stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: 1- put holder on black stand 2- put bottle on black stand Q: immediate next step? \u003cPRED\u003eA: put bottle on black stand\n\u003c/PRED\u003e","video":"16544635703486087652.mp4"}
+{"uid":"9645605754887765729","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:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place the fork 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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the plastic fork in the holder 2- put the fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the fork in the holder 2- put the fork in the holder 3- put the packet in the tray 4- put the  packet in the tray 5- put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the 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- put the plastic fork in the holder 2- put the fork in the holder Q: immediate next step? \u003cPRED\u003eA: place the fork in the holder\n\u003c/PRED\u003e","video":"17153981388170174631.mp4"}
+{"uid":"16915131013611254","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the pile of glasses from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16079574922889321443.mp4"}
+{"uid":"4798663310151675452","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust the packets Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7259008788513070089.mp4"}
+{"uid":"11269477497646607902","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the middle screen cleaning wipe sachet off the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9664679477323671132.mp4"}
+{"uid":"265029457444785651","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- put the plastic 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic fork in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: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- put the plastic fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the packet in the tray 5- 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 plastic fork in the holder\n\u003c/PRED\u003e","video":"1652708337708328008.mp4"}
+{"uid":"7048321428078810746","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: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: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: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- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the 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: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":"16295117392538001932.mp4"}
+{"uid":"1672678759959485056","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":"13958283795931780808.mp4"}
+{"uid":"5566666575649495493","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"5535336622540680333.mp4"}
+{"uid":"8603892361078432396","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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray 9- 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: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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray 9- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- put the packet in the tray 3- place the packet in the tray 4- 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"17284752910994709451.mp4"}
+{"uid":"17091201494250730933","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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":"6654200396318376314.mp4"}
+{"uid":"2366549553602505673","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","video":"3796375707812801970.mp4"}
+{"uid":"8044381931740462491","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: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: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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- put the packet in the tray 5- place the 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 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","video":"282956252418614261.mp4"}
+{"uid":"999159102371347005","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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the plastic fork in the holder 2- put the fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic fork in the holder 2- put the packet in the tray 3- put the  packet in the tray 4- put the packet in the tray 5- place the white 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- put the plastic fork in the holder 2- put the 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","video":"16089127356685591327.mp4"}
+{"uid":"619871763679507932","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:success:discrete:False\u003e\nplace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place the 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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white 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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white 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- put the packet in the tray 4- place the packet in the tray 5- done\n\u003c/PRED\u003e","video":"5247727607887023882.mp4"}
+{"uid":"6771985595925836016","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":"10736733807728940273.mp4"}
+{"uid":"7932457735871220891","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: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: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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet in the tray 2- put the packet in the tray 3- place the white 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: put snacks into the large white bowl, and put the forks back into the black cup. 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:success:discrete:False\u003e\nplace the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the packet in the tray\n\u003c/PRED\u003e","video":"10697753741334695907.mp4"}
+{"uid":"7481275185383024012","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the orange highlighter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4985418595250578269.mp4"}
+{"uid":"16565325015341263973","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the plastic fork in the holder 2- put the fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the holder 2- put the fork in the holder 3- put the packet in the tray 4- put the  packet in the tray 5- put the packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the plastic fork in the holder 2- put the fork in the holder Q: immediate next step? \u003cPRED\u003eA: put the 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 fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the 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 fork in the holder\n\u003c/PRED\u003e","video":"15263803723182308368.mp4"}
+{"uid":"3666916516777263747","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink bag 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":"13223288951117608609.mp4"}
+{"uid":"11804153915391248228","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the fork in the holder 2- put the packet in the tray 3- put the  packet in the tray 4- put the packet in the tray 5- place the white 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 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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder Q: immediate next step? \u003cPRED\u003eA: put the 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 fork in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fork in the holder\n\u003c/PRED\u003e","video":"4303359169946079021.mp4"}
+{"uid":"13804964514806888916","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":"4890717966315458188.mp4"}
+{"uid":"11013099033061117330","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: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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the  packet in the tray 2- put the packet in the tray 3- place the white packet in the tray 4- place the packet in the tray 5- place 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: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 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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 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","video":"18287939991385707312.mp4"}
+{"uid":"16982936206100791627","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":"1855649524189750792.mp4"}
+{"uid":"17192832270547476314","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the items 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":"12991045531935396687.mp4"}
+{"uid":"7060404856640684445","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the plastic fork in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14543308192761392707.mp4"}
+{"uid":"568224864146371294","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":"9700131473219862617.mp4"}
+{"uid":"17988733026862489190","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to 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":"8923829470518183778.mp4"}
+{"uid":"7076303502539396917","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":"17593850187826296700.mp4"}
+{"uid":"5244200577310956164","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the choco 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":"9773817421111450063.mp4"}
+{"uid":"8176211994371899203","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: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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray 9- place the packet in the tray 10- place the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the tray 2- place the packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: put the 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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray 9- place the packet in the tray 10- place the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance: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":"4428730077280769732.mp4"}
+{"uid":"3353159107966411238","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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray 9- place the packet in the tray 10- place the packet in the tray 11- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: put the orange 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 orange packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange 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: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: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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray 9- place the packet in the tray 10- place the packet in the tray 11- put the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange packet in the bowl 2- done\n\u003c/PRED\u003e","video":"5892417868833457921.mp4"}
+{"uid":"11787801263297945837","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":"12848046318466702740.mp4"}
+{"uid":"13279609518609188966","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask: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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put snacks into the large white bowl, and put the forks back into the black cup. Q: immediate next step? \u003cPRED\u003eA: place the white packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the white packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the white packet in the tray 2- place the packet in the tray 3- place the packet in the tray 4- put the packet in the tray 5- place the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17840941583119982103.mp4"}
+{"uid":"15210303852314956654","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the plastic fork in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6617081316124766555.mp4"}
+{"uid":"16212309719187570489","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":"6833175249584246639.mp4"}
+{"uid":"1039497657485185367","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":"7921285196726872035.mp4"}
+{"uid":"4814656810235578440","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":"7158056908534999908.mp4"}
+{"uid":"10436921022367165735","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","video":"1879940177346843889.mp4"}
+{"uid":"10340934148949297810","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput bottle on black stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput bottle on black stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: 1- put holder on black stand Q: next 5 steps? \u003cPRED\u003eA: 1- put bottle on black stand 2- put bottle on black stand 3- put bottle on black stand 4- put bottle on black stand 5- put bottle on black stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat Q: immediate next step? \u003cPRED\u003eA: put bottle on black stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: 1- put holder on black stand Q: immediate next step? \u003cPRED\u003eA: put bottle on black stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put bottle on black stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put bottle on black stand\n\u003c/PRED\u003e","video":"599514601751771880.mp4"}
+{"uid":"4380811209308175424","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plastic fork in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the plastic fork in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7144118000156576551.mp4"}
+{"uid":"16741944642303286524","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npour the pistachio in the paper bowl with the scooper Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8505938212072749335.mp4"}
+{"uid":"4260498005106491263","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green can on 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":"7084619627773320732.mp4"}
+{"uid":"16917826275567234482","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the clip in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1313160193757107648.mp4"}
+{"uid":"11923731826319276278","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput two orange 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":"18146211889298503169.mp4"}
+{"uid":"2435205149725721871","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put bottle on black stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: 1- put holder on black stand 2- put bottle on black stand 3- put bottle on black stand Q: next 5 steps? \u003cPRED\u003eA: 1- put bottle on black stand 2- put bottle on black stand 3- put bottle on black stand 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat Q: immediate next step? \u003cPRED\u003eA: put bottle on black stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput bottle on black stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put bottle on black stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Organize and place the sauces, honey, salt & pepper and stirrers on the black mat. last 20 steps: 1- put holder on black stand 2- put bottle on black stand 3- put bottle on black stand Q: immediate next step? \u003cPRED\u003eA: put bottle on black stand\n\u003c/PRED\u003e","video":"295116216124545935.mp4"}
+{"uid":"8667638826841830232","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"13606558616531723929.mp4"}
+{"uid":"10404782299232750451","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the 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- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray 9- place the packet in the tray 10- place the packet in the tray 11- put the packet in the tray 12- put the 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: put snacks into the large white bowl, and put the forks back into the black cup. last 20 steps: 1- put the plastic fork in the holder 2- put the fork in the holder 3- put the fork in the holder 4- put the fork in the holder 5- put the packet in the tray 6- put the  packet in the tray 7- put the packet in the tray 8- place the white packet in the tray 9- place the packet in the tray 10- place the packet in the tray 11- put the packet in the tray 12- put the packet in the tray Q: immediate next step? \u003cPRED\u003eA: 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: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7820427957706697428.mp4"}
+{"uid":"16666532129914882324","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":"9721364366866003827.mp4"}
+{"uid":"6475061008896268116","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: 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: 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 plates 4- stack the plates Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the plates Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\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 plates 4- stack the plates Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"17132887586504841590.mp4"}
+{"uid":"7691395768123129202","text":"\u003ctask:success:discrete:True\u003e\nstack the plates Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the plates\n\u003c/PRED\u003e","video":"16951230409360187638.mp4"}
+{"uid":"4726121972264276302","text":"\u003ctask:success:discrete:False\u003e\nClean the table with sponge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in bowl and then wipe the table with a sponge. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl 4- Put the orange in the bowl 5- Put the apple in the bowl 6- Put the apple in the bowl 7- Put the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Clean the table with sponge 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits in bowl and then wipe the table with a sponge. Q: immediate next step? \u003cPRED\u003eA: Clean the table with sponge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in bowl and then wipe the table with a sponge. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl 4- Put the orange in the bowl 5- Put the apple in the bowl 6- Put the apple in the bowl 7- Put the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Clean the table with sponge\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClean the table with sponge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Clean the table with sponge\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Clean the table with sponge\n\u003c/PRED\u003e","video":"14494114663654273151.mp4"}
+{"uid":"3935565109628248192","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the alphabetic tile in the pouch Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5844629369050747904.mp4"}
+{"uid":"6144982464069113110","text":"\u003ctask:success:discrete:True\u003e\nput wire under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e","video":"6377114476759691734.mp4"}
+{"uid":"5253496909816567275","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic knives in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8895635227846095407.mp4"}
+{"uid":"6012753124600022725","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put green plate on pink 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- put green plate on pink plate 2- stack the plate 3- stack the plates 4- stack the plates 5- 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: none Q: immediate next step? \u003cPRED\u003eA: put green plate on pink plate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green plate on pink plate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput green plate on pink 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\nput green plate on pink 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:planning:freeform\u003e\ncurrent goal is: stack the plates on top of each other Q: immediate next step? \u003cPRED\u003eA: put green plate on pink plate\n\u003c/PRED\u003e","video":"16838277036266424578.mp4"}
+{"uid":"15727803556464331752","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the plates\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: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 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: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 plates 2- stack the plates 3- done\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: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","video":"18117032915517665906.mp4"}
+{"uid":"13248309236910028776","text":"\u003ctask:success:discrete:True\u003e\nopen the table desk Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the table desk\n\u003c/PRED\u003e","video":"1977190636932966488.mp4"}
+{"uid":"11165518179857843543","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"5988007705652836834.mp4"}
+{"uid":"8559829018823539748","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose cardboard slide Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 cardboard slide\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close cardboard slide\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose cardboard slide Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 tuck the blue charging cable back into the table Q: immediate next step? \u003cPRED\u003eA: close cardboard slide\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table. last 20 steps: 1- open the table desk 2- open cardboard slide 3- put wire under the table 4- put wire under the table 5- put wire under the table 6- put wire under the table 7- put wire under the table Q: immediate next step? \u003cPRED\u003eA: close cardboard slide\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table. last 20 steps: 1- open the table desk 2- open cardboard slide 3- put wire under the table 4- put wire under the table 5- put wire under the table 6- put wire under the table 7- put wire under the table Q: next 5 steps? \u003cPRED\u003eA: 1- close cardboard slide 2- done\n\u003c/PRED\u003e","video":"11060869787637020680.mp4"}
+{"uid":"16229807107712887914","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":"10183515407112406796.mp4"}
+{"uid":"5076812709440085965","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue packet in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7860368922295004566.mp4"}
+{"uid":"18133675288889541144","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in bowl and then wipe the table with a sponge. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl 4- Put the orange in the bowl 5- Put the apple in the bowl 6- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in bowl and then wipe the table with a sponge. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl 4- Put the orange in the bowl 5- Put the apple in the bowl 6- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana in the bowl 2- Clean the table with sponge 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits in bowl and then wipe the table with a sponge. Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e","video":"2569110370550579989.mp4"}
+{"uid":"5578650039990571765","text":"\u003ctask:success:discrete:True\u003e\nput wire under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e","video":"12214831787063812327.mp4"}
+{"uid":"2258063663733603846","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the plates on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the green 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 green plate 2- stack the plate 3- stack the plates 4- stack the plates 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the green plate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the green 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 green plate\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the green plate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the green 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","video":"14027826743397903525.mp4"}
+{"uid":"17376430419549806378","text":"\u003ctask:success:discrete:True\u003e\nput wire under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e","video":"6700541743850984543.mp4"}
+{"uid":"18443532743273268224","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: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: Please place the fruits in bowl and then wipe the table with a sponge. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes 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 apple in the bowl 4- Put the apple in the bowl 5- Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits in bowl and then wipe the table with a sponge. 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in bowl and then wipe the table with a sponge. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e","video":"926297163550196935.mp4"}
+{"uid":"2700251352563539935","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput wire under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput wire under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table Q: immediate next step? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table. last 20 steps: 1- open the table desk 2- open cardboard slide 3- put wire under the table 4- put wire under the table 5- put wire under the table 6- put wire under the table Q: immediate next step? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table. last 20 steps: 1- open the table desk 2- open cardboard slide 3- put wire under the table 4- put wire under the table 5- put wire under the table 6- put wire under the table Q: next 5 steps? \u003cPRED\u003eA: 1- put wire under the table 2- close cardboard slide 3- done\n\u003c/PRED\u003e","video":"6826313251110115552.mp4"}
+{"uid":"7492817280004019830","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput wire under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput wire under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table Q: immediate next step? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table. last 20 steps: 1- open the table desk 2- open cardboard slide Q: immediate next step? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table. last 20 steps: 1- open the table desk 2- open cardboard slide Q: next 5 steps? \u003cPRED\u003eA: 1- put wire under the table 2- put wire under the table 3- put wire under the table 4- put wire under the table 5- put wire under the table\n\u003c/PRED\u003e","video":"11144537536971219754.mp4"}
+{"uid":"17236348434543395067","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput wire under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput wire under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table Q: immediate next step? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table. last 20 steps: 1- open the table desk 2- open cardboard slide 3- put wire under the table Q: immediate next step? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table. last 20 steps: 1- open the table desk 2- open cardboard slide 3- put wire under the table Q: next 5 steps? \u003cPRED\u003eA: 1- put wire under the table 2- put wire under the table 3- put wire under the table 4- put wire under the table 5- close cardboard slide\n\u003c/PRED\u003e","video":"10920761954857773502.mp4"}
+{"uid":"12647241871087089912","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the lapel pin 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":"6157865222963772242.mp4"}
+{"uid":"1519914527101082512","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":"2821695226284171768.mp4"}
+{"uid":"10897209813045804317","text":"\u003ctask:success:discrete:True\u003e\nopen cardboard slide Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 cardboard slide\n\u003c/PRED\u003e","video":"15352227675956367734.mp4"}
+{"uid":"117284254141907900","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 Q: next 5 steps? \u003cPRED\u003eA: 1- stack the purple plate 2- stack the plates 3- stack the plates 4- 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 Q: immediate next step? \u003cPRED\u003eA: stack the purple plate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the purple 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:discriminative:discrete:True\u003e\nstack the purple 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 purple plate\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the purple 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 purple plate\n\u003c/PRED\u003e","video":"7791272576842070098.mp4"}
+{"uid":"6355648377052234720","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen cardboard slide Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 cardboard slide\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open cardboard slide\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table Q: immediate next step? \u003cPRED\u003eA: open cardboard slide\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table. last 20 steps: 1- open the table desk Q: immediate next step? \u003cPRED\u003eA: open cardboard slide\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table. last 20 steps: 1- open the table desk Q: next 5 steps? \u003cPRED\u003eA: 1- open cardboard slide 2- put wire under the table 3- put wire under the table 4- put wire under the table 5- put wire under the table\n\u003c/PRED\u003e","video":"5838316052296862132.mp4"}
+{"uid":"7625584444322085141","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in bowl and then wipe the table with a sponge. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the banana in the bowl 5- Clean the table with sponge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in bowl and then wipe the table with a sponge. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask: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: Please place the fruits in bowl and then wipe the table with a sponge. Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e","video":"15865343425422418422.mp4"}
+{"uid":"5200051697323725596","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the  pebbles in the left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13007622073521501136.mp4"}
+{"uid":"17032372924628082130","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"12728371333746234897.mp4"}
+{"uid":"14811381970297852444","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen cardboard slide Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 cardboard slide\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open cardboard slide\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen cardboard slide Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 tuck the blue charging cable back into the table Q: immediate next step? \u003cPRED\u003eA: open cardboard slide\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open cardboard slide\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open cardboard slide 2- open cardboard slide 3- put wire under the table 4- put wire under the table 5- put wire under the table\n\u003c/PRED\u003e","video":"15966855238663925333.mp4"}
+{"uid":"9373625098200193427","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":"13279720036537377654.mp4"}
+{"uid":"14178213746649444095","text":"\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 plates Q: immediate next step? \u003cPRED\u003eA: put plates on violet 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: put plates on violet plate\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput plates on violet 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:discriminative:discrete:True\u003e\nput plates on violet 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: put plates on violet 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 plates Q: next 5 steps? \u003cPRED\u003eA: 1- put plates on violet plate 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put plates on violet plate\n\u003c/PRED\u003e","video":"5839358212729283875.mp4"}
+{"uid":"10701646039668878261","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pista in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6467091633743038664.mp4"}
+{"uid":"5088807719136105867","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput wire under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table Q: immediate next step? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table. last 20 steps: 1- open the table desk 2- open cardboard slide 3- put wire under the table 4- put wire under the table 5- put wire under the table Q: immediate next step? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table. last 20 steps: 1- open the table desk 2- open cardboard slide 3- put wire under the table 4- put wire under the table 5- put wire under the table Q: next 5 steps? \u003cPRED\u003eA: 1- put wire under the table 2- put wire under the table 3- close cardboard slide 4- done\n\u003c/PRED\u003e","video":"15923973408982195136.mp4"}
+{"uid":"4648771576913139409","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits in bowl and then wipe the table with a sponge. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Clean the table with sponge\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClean the table with sponge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in bowl and then wipe the table with a sponge. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl 4- Put the orange in the bowl 5- Put the apple in the bowl 6- Put the apple in the bowl 7- Put the banana in the bowl 8- Clean the table with sponge Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in bowl and then wipe the table with a sponge. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl 4- Put the orange in the bowl 5- Put the apple in the bowl 6- Put the apple in the bowl 7- Put the banana in the bowl 8- Clean the table with sponge Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"3633982620930668140.mp4"}
+{"uid":"10731733407921203164","text":"\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: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: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 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: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 plates 3- stack the plates 4- done\n\u003c/PRED\u003e","video":"18150301980593087028.mp4"}
+{"uid":"365770488667493287","text":"\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\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 plates 4- stack the plates 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: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: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:generative:positive:freeform\u003e\nQ: what action is possible right now? \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":"17158909582240819479.mp4"}
+{"uid":"16219832133628387928","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the table desk Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the table desk\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the table desk\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the table desk Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table Q: immediate next step? \u003cPRED\u003eA: open the table desk\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the table desk\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the table desk 2- open cardboard slide 3- put wire under the table 4- put wire under the table 5- put wire under the table\n\u003c/PRED\u003e","video":"1771554748140587607.mp4"}
+{"uid":"16710440808240757246","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":"16961259190541311645.mp4"}
+{"uid":"16321723023149227555","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bunch of grapes 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 bunch of grapes 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 in bowl and then wipe the table with a sponge. last 20 steps: 1- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the bunch of grapes in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bunch of grapes in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in bowl and then wipe the table with a sponge. last 20 steps: 1- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bunch of grapes in the bowl 2- Put the orange in the bowl 3- Put the orange in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bunch of grapes in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits in bowl and then wipe the table with a sponge. Q: immediate next step? \u003cPRED\u003eA: Put the bunch of grapes in the bowl\n\u003c/PRED\u003e","video":"12369907682272829338.mp4"}
+{"uid":"9927120038813646554","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":"5602580373471168363.mp4"}
+{"uid":"14705737036642132389","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":"1004711373359308903.mp4"}
+{"uid":"2951797350818803093","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop packet 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":"9894457495789004601.mp4"}
+{"uid":"5511660855207908219","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop sugar candy in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4370468225261941897.mp4"}
+{"uid":"6729062658947811642","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":"5129936274474730305.mp4"}
+{"uid":"12949684787870916552","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":"6460866766344668394.mp4"}
+{"uid":"11653178282067136685","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput wire under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table Q: immediate next step? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table. last 20 steps: 1- open the table desk 2- open cardboard slide 3- put wire under the table 4- put wire under the table Q: immediate next step? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table. last 20 steps: 1- open the table desk 2- open cardboard slide 3- put wire under the table 4- put wire under the table Q: next 5 steps? \u003cPRED\u003eA: 1- put wire under the table 2- put wire under the table 3- put wire under the table 4- close cardboard slide 5- done\n\u003c/PRED\u003e","video":"996119444688711799.mp4"}
+{"uid":"1010682390833006101","text":"\u003ctask:success:discrete:True\u003e\nput wire under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put wire under the table\n\u003c/PRED\u003e","video":"8594085719187447593.mp4"}
+{"uid":"6850707143919699487","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put violet plate on orange 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: put violet plate on orange 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: put violet plate on orange 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- put violet plate on orange plate 2- stack the plates 3- stack the plates 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put violet plate on orange plate\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput violet plate on orange 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\nput violet plate on orange 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","video":"8240941887321318741.mp4"}
+{"uid":"1065115245435486297","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black wire in 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":"11993490289382130041.mp4"}
+{"uid":"7793911481210747193","text":"\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: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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the plates\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 plates Q: immediate next step? \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 plates Q: next 5 steps? \u003cPRED\u003eA: 1- stack the plates 2- done\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","video":"11853112187692600921.mp4"}
+{"uid":"2681451096763111044","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npickup the numi tea bag 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":"5373403017608002802.mp4"}
+{"uid":"6703848212166192358","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black cup left side in sequence Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8457260489799844396.mp4"}
+{"uid":"13893009631702760326","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the stand to the top 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":"3202492176096114862.mp4"}
+{"uid":"7917351841889194226","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":"2802302690225051062.mp4"}
+{"uid":"16507201016206413438","text":"\u003ctask:success:discrete:True\u003e\nopen cardboard slide Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 cardboard slide\n\u003c/PRED\u003e","video":"16885410493328954772.mp4"}
+{"uid":"1450466876120842566","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in bowl and then wipe the table with a sponge. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl 4- Put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits in bowl and then wipe the table with a sponge. Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in bowl and then wipe the table with a sponge. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl 4- Put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the bowl 2- Put the apple in the bowl 3- Put the banana in the bowl 4- Clean the table with sponge 5- done\n\u003c/PRED\u003e","video":"12671073884744300270.mp4"}
+{"uid":"9540819866671949465","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the bottle 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":"1669093304657705139.mp4"}
+{"uid":"12256263330424633809","text":"\u003ctask:success:discrete:True\u003e\nstack the purple 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the purple plate\n\u003c/PRED\u003e","video":"1969717101403275919.mp4"}
+{"uid":"8615059158354934123","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":"12470583313140734041.mp4"}
+{"uid":"9952595510948981201","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":"58217915010393297.mp4"}
+{"uid":"6864711167407623057","text":"\u003ctask:success:discrete:True\u003e\nclose cardboard slide Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 cardboard slide\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table. last 20 steps: 1- open the table desk 2- open cardboard slide 3- put wire under the table 4- put wire under the table 5- put wire under the table 6- put wire under the table 7- put wire under the table 8- close cardboard slide Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please tuck the blue charging cable back into the table. last 20 steps: 1- open the table desk 2- open cardboard slide 3- put wire under the table 4- put wire under the table 5- put wire under the table 6- put wire under the table 7- put wire under the table 8- close cardboard slide Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"5428144063787073898.mp4"}
+{"uid":"3034557672534112682","text":"\u003ctask:success:discrete:True\u003e\nput violet plate on orange 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put violet plate on orange plate\n\u003c/PRED\u003e","video":"17703876483779032506.mp4"}
+{"uid":"2965203239760216075","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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: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: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: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 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 Q: next 5 steps? \u003cPRED\u003eA: 1- stack the plates 2- stack the plates 3- done\n\u003c/PRED\u003e","video":"7330747908251435144.mp4"}
+{"uid":"1211297606256217520","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in bowl and then wipe the table with a sponge. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits in bowl and then wipe the table with a sponge. Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in bowl and then wipe the table with a sponge. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl 4- Put the orange in the bowl 5- Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"1767880117666081705.mp4"}
+{"uid":"14432170287697052470","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":"10000435043764988037.mp4"}
+{"uid":"15205121541062994186","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the object in the glass pot Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10265902156084658919.mp4"}
+{"uid":"243282867750993520","text":"\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: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 plates Q: next 5 steps? \u003cPRED\u003eA: 1- stack the plates 2- done\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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: 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 plates\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 plates Q: immediate next step? \u003cPRED\u003eA: stack the plates\n\u003c/PRED\u003e","video":"9392874689793981640.mp4"}
+{"uid":"9810874544120108868","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put green plate on pink plate\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput green plate on pink 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":"14719486829646605673.mp4"}
+{"uid":"14498957233961004749","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":"2759781676284327259.mp4"}
+{"uid":"14636829297850983214","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in bowl and then wipe the table with a sponge. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl 4- Put the orange in the bowl 5- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the bowl 2- Put the banana in the bowl 3- Clean the table with sponge 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the fruits in bowl and then wipe the table with a sponge. Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the fruits in bowl and then wipe the table with a sponge. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl 4- Put the orange in the bowl 5- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"11038386634141107321.mp4"}
+{"uid":"17390879428519680535","text":"\u003ctask:success:discrete:True\u003e\nstack the plates Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the plates\n\u003c/PRED\u003e","video":"8674639852344067213.mp4"}
+{"uid":"4010908622043125643","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in a bowl 2- drop the candy in a bowl 3- put tissue on table s 4- place the candy cup on the tissue paper 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e","video":"7502712217739828535.mp4"}
+{"uid":"15685180988555950294","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in a bowl 2- drop the candy in a bowl 3- drop the candy in a bowl 4- put tissue on table s 5- place the candy cup on the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e","video":"10251543097306269533.mp4"}
+{"uid":"4822221255053912182","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":"7903591894177344318.mp4"}
+{"uid":"14623296926079243400","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in a bowl 2- drop the candy in a bowl 3- drop the candy in a bowl 4- drop the candy in a bowl 5- put tissue on table s\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e","video":"345252268931650587.mp4"}
+{"uid":"7561689316795192233","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput candy in brown bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl Q: immediate next step? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in brown bowl 2- drop the candy in a bowl 3- drop the candy in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e","video":"14748946007147209604.mp4"}
+{"uid":"4411077862580599415","text":"\u003ctask:success:discrete:False\u003e\ndrop 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the orange in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop 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: drop the orange in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: drop the orange in a bowl\n\u003c/PRED\u003e","video":"16040161056355988343.mp4"}
+{"uid":"15501702884498285318","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo 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":"17120921027612159670.mp4"}
+{"uid":"605661630787102744","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the banana in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl Q: immediate next step? \u003cPRED\u003eA: drop the banana in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the banana in a bowl 2- drop the candy in a bowl 3- drop the candy in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the banana in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the banana in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the banana in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: drop the banana in a bowl\n\u003c/PRED\u003e","video":"2324202730931987355.mp4"}
+{"uid":"17806192969562166056","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"8594899990806426910.mp4"}
+{"uid":"17956831261343064766","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl 7- drop the candy in a bowl Q: immediate next step? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl 7- drop the candy in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in brown bowl 2- put tissue on table s 3- place the candy cup on the tissue paper 4- done\n\u003c/PRED\u003e","video":"11783727411314806764.mp4"}
+{"uid":"16308156348554695556","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red pouch in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5604344412971484056.mp4"}
+{"uid":"3356014116034552864","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a 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":"2119325119006751051.mp4"}
+{"uid":"6364647557659250083","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the apple inside 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":"124481769428182470.mp4"}
+{"uid":"8367467550740324823","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17103484444693287495.mp4"}
+{"uid":"7959350143753124770","text":"\u003ctask:success:discrete:False\u003e\nPlace the toffee in the 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: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Place the toffee in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the toffee in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the toffee in the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the toffee in the small bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the toffee in the small bowl 2- drop the candy in a bowl 3- drop the candy in a bowl 4- put tissue on table s 5- place the candy cup on the tissue paper\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl Q: immediate next step? \u003cPRED\u003eA: Place the toffee in the small bowl\n\u003c/PRED\u003e","video":"5532509519033122147.mp4"}
+{"uid":"14193044095538683208","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a 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:success:discrete:False\u003e\nPlace the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the banana in the bowl 2- drop the candy in a bowl 3- drop the candy in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl\n\u003c/PRED\u003e","video":"9874783447980767947.mp4"}
+{"uid":"7458551827568387657","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp a  orange highlighter Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9855182777665122443.mp4"}
+{"uid":"16230489178689570599","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep the duster on the black box attached with 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":"17022684635933911290.mp4"}
+{"uid":"390294374655712195","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"13530317496093848163.mp4"}
+{"uid":"15176350816523781703","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in white bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e","video":"3912772706884645447.mp4"}
+{"uid":"13382112701269476455","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the two pink packet in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18189039134605961706.mp4"}
+{"uid":"13092255045054063357","text":"\u003ctask:success:discrete:False\u003e\nPlace the toffee in the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the toffee in the small bowl 2- drop the candy in a bowl 3- put tissue on table s 4- place the candy cup on the tissue paper 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the toffee in the 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: Place the toffee in the small bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the toffee in the small bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl Q: immediate next step? \u003cPRED\u003eA: Place the toffee in the small bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Place the toffee in the small bowl\n\u003c/PRED\u003e","video":"1335936638807902459.mp4"}
+{"uid":"12678449521486310870","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tissue on table s\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput tissue on table s Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8950351092673127399.mp4"}
+{"uid":"16445993549799568759","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":"5276777982448413111.mp4"}
+{"uid":"674397659583427755","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":"5207523978295893205.mp4"}
+{"uid":"2283456485536247302","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar packet 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":"3898778174204755351.mp4"}
+{"uid":"279854332306533547","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brown bowl on tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl 7- drop the candy in a bowl 8- drop the candy in a bowl 9- put tissue on table s Q: immediate next step? \u003cPRED\u003eA: put brown bowl on tissue\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brown bowl on tissue\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput brown bowl on tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput brown bowl on tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl 7- drop the candy in a bowl 8- drop the candy in a bowl 9- put tissue on table s Q: next 5 steps? \u003cPRED\u003eA: 1- put brown bowl on tissue 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put brown bowl on tissue\n\u003c/PRED\u003e","video":"8398521819680115294.mp4"}
+{"uid":"2398615138683790588","text":"\u003ctask:success:discrete:True\u003e\ndrop the banana 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: drop the banana in a bowl\n\u003c/PRED\u003e","video":"17320479072830958113.mp4"}
+{"uid":"9363921721868543167","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the refrigerator 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":"6909624588940304338.mp4"}
+{"uid":"11817095744291237934","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the candy in a bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in a bowl 2- drop the candy in a bowl 3- drop the candy in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl\n\u003c/PRED\u003e","video":"299887220258471649.mp4"}
+{"uid":"7210654357023337510","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl Q: immediate next step? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in brown bowl 2- drop the candy in a bowl 3- put tissue on table s 4- place the candy cup on the tissue paper 5- done\n\u003c/PRED\u003e","video":"11950294737781777368.mp4"}
+{"uid":"412859538501236110","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue pen in pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10719561635378262810.mp4"}
+{"uid":"14594977492335877093","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the small bowl on the tissue\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the small bowl on the tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the small bowl on the tissue Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl 7- drop the candy in a bowl 8- drop the candy in a bowl 9- put tissue on table s Q: next 5 steps? \u003cPRED\u003eA: 1- Place the small bowl on the tissue 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the small bowl on the tissue\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl 7- drop the candy in a bowl 8- drop the candy in a bowl 9- put tissue on table s Q: immediate next step? \u003cPRED\u003eA: Place the small bowl on the tissue\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Place the small bowl on the tissue\n\u003c/PRED\u003e","video":"10357708832686793481.mp4"}
+{"uid":"3871674953743810718","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":"12030536178789180259.mp4"}
+{"uid":"11405099831804467605","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy 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":"3425001716579921919.mp4"}
+{"uid":"9334666597861064401","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl Q: immediate next step? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in brown bowl 2- drop the candy in a bowl 3- drop the candy in a bowl 4- put tissue on table s 5- place the candy cup on the tissue paper\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e","video":"10605555170160887248.mp4"}
+{"uid":"6391711158247142027","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":"18129729138164169343.mp4"}
+{"uid":"11612960503804513027","text":"\u003ctask:success:discrete:True\u003e\ndrop the candy 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: drop the candy in a bowl\n\u003c/PRED\u003e","video":"11085248833891421002.mp4"}
+{"uid":"6066389670782582710","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1823588268176896150.mp4"}
+{"uid":"246893821686939038","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":"18054269452859610481.mp4"}
+{"uid":"17910373189252382647","text":"\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:affordance:discriminative:discrete:True\u003e\nPlace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a 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: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange in the bowl 2- drop the banana in a bowl 3- drop the candy in a bowl 4- drop the candy in a bowl 5- drop the candy in a 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: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: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e","video":"3644474583436177052.mp4"}
+{"uid":"13299001982029754143","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":"4567204593863345753.mp4"}
+{"uid":"11048945056080599226","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep 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":"13467348901320066849.mp4"}
+{"uid":"820234967142465243","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15891849429010202412.mp4"}
+{"uid":"11208274788853772232","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the toffee in the small bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl 7- drop the candy in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the toffee in the small bowl 2- put tissue on table s 3- place the candy cup on the tissue paper 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the toffee in the 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: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Place the toffee in the small bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl 7- drop the candy in a bowl Q: immediate next step? \u003cPRED\u003eA: Place the toffee in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the toffee in the small bowl\n\u003c/PRED\u003e","video":"14232508251111295458.mp4"}
+{"uid":"14765609791077580710","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick 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":"106698127298559409.mp4"}
+{"uid":"17781521843039991771","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put banana in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl Q: immediate next step? \u003cPRED\u003eA: put banana in white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in white bowl 2- drop the candy in a bowl 3- drop the candy in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl\n\u003c/PRED\u003e","video":"8404482150682932020.mp4"}
+{"uid":"13753655384555150772","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl Q: immediate next step? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in white bowl 2- drop the banana in a bowl 3- drop the candy in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15477409509425302232.mp4"}
+{"uid":"15426302707856733990","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"422322256936378356.mp4"}
+{"uid":"13907954942671926200","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the candy cup on the tissue paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl 7- drop the candy in a bowl 8- drop the candy in a bowl 9- put tissue on table s 10- place the candy cup on the tissue paper Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl 7- drop the candy in a bowl 8- drop the candy in a bowl 9- put tissue on table s 10- place the candy cup on the tissue paper Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the candy cup 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","video":"11529160078739394013.mp4"}
+{"uid":"2354511935153617573","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl 7- drop the candy in a bowl 8- drop the candy in a bowl Q: immediate next step? \u003cPRED\u003eA: Place the tissue on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl 7- drop the candy in a bowl 8- drop the candy in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the tissue on the table 2- place the candy cup 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: Place the tissue on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Place the tissue on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the tissue on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17989549046670087876.mp4"}
+{"uid":"14678319025042878174","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the tissue paper on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the tissue paper on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12722136061286089837.mp4"}
+{"uid":"6924153065314148794","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl 7- drop the candy in a bowl 8- drop the candy in a bowl 9- put tissue on table s Q: immediate next step? \u003cPRED\u003eA: place the candy cup on the tissue paper\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl 7- drop the candy in a bowl 8- drop the candy in a bowl 9- put tissue on table s Q: next 5 steps? \u003cPRED\u003eA: 1- place the candy cup on the tissue paper 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the candy cup on the tissue paper\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the candy cup 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: place the candy cup on the tissue paper\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the candy cup 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:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: place the candy cup on the tissue paper\n\u003c/PRED\u003e","video":"12712253212017903895.mp4"}
+{"uid":"10981042509117888483","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":"3658243173663230724.mp4"}
+{"uid":"2444642436578252998","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl 7- drop the candy in a bowl 8- drop the candy in a bowl Q: immediate next step? \u003cPRED\u003eA: put tissue on table s\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put tissue on table s\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tissue on table s\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput tissue on table s Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 s\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl 7- drop the candy in a bowl 8- drop the candy in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put tissue on table s 2- place the candy cup on the tissue paper 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput tissue on table s Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6303551764759279582.mp4"}
+{"uid":"17625396612861103792","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the dark green candy in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2070455038891841713.mp4"}
+{"uid":"9131233343456916223","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2514661249098141849.mp4"}
+{"uid":"11558912711645832554","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the tissue on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the tissue on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3474431746413080319.mp4"}
+{"uid":"11517217504641129359","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the candy in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl 7- drop the candy in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the candy in a bowl 2- put tissue on table s 3- place the candy cup on the tissue paper 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl 7- drop the candy in a bowl Q: immediate next step? \u003cPRED\u003eA: drop the candy in a bowl\n\u003c/PRED\u003e","video":"7099857440931132698.mp4"}
+{"uid":"17225149558881180363","text":"\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: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: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange in the bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the orange in the bowl\n\u003c/PRED\u003e","video":"11507742435551864142.mp4"}
+{"uid":"10506625775086434205","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput candy in brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put candy in brown bowl 2- drop the candy in a bowl 3- drop the candy in a bowl 4- drop the candy in a bowl 5- put tissue on table s\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl Q: immediate next step? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put candy in brown bowl\n\u003c/PRED\u003e","video":"7034873291306474792.mp4"}
+{"uid":"13514886667232693527","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork in holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7016661751601243763.mp4"}
+{"uid":"8676415393804197848","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Place the toffee in the small bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl Q: immediate next step? \u003cPRED\u003eA: Place the toffee in the small bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the toffee in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the toffee in the 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:success:discrete:False\u003e\nPlace the toffee in the 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the toffee in the small bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the toffee in the small bowl 2- drop the candy in a bowl 3- drop the candy in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl\n\u003c/PRED\u003e","video":"14708214302923279081.mp4"}
+{"uid":"7054393513770444905","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: Place the toffee in the small bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the toffee in the small bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl Q: immediate next step? \u003cPRED\u003eA: Place the toffee in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the toffee in the small bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the toffee in the 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: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Place the toffee in the small bowl 2- drop the candy in a bowl 3- drop the candy in a bowl 4- drop the candy in a bowl 5- put tissue on table s\n\u003c/PRED\u003e","video":"4156127579849120300.mp4"}
+{"uid":"17916319592737487029","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange in a bowl 2- drop the banana in a bowl 3- drop the candy in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange in a bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange in a bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: drop the orange in a bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl Q: immediate next step? \u003cPRED\u003eA: drop the orange in a bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop 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","video":"14253183253867781389.mp4"}
+{"uid":"7967962053293508745","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the tissue paper on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 a table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the tissue paper on a table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl 7- drop the candy in a bowl 8- drop the candy in a bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the tissue paper on a table 2- place the candy cup on the tissue paper 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. Q: immediate next step? \u003cPRED\u003eA: place the tissue paper on a table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the candies in the red bowl and the fruits in the white bowl. then lay a napkin out and put the red bowl on top of it. last 20 steps: 1- drop the orange in a bowl 2- drop the orange in a bowl 3- drop the banana in a bowl 4- drop the candy in a bowl 5- drop the candy in a bowl 6- drop the candy in a bowl 7- drop the candy in a bowl 8- drop the candy in a bowl Q: immediate next step? \u003cPRED\u003eA: place the tissue paper on a table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the tissue paper on a table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10377833780409006721.mp4"}
+{"uid":"13994302804633155118","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl 4- Put the apple in the bowl 5- Put the orange in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl 4- Put the apple in the bowl 5- Put the orange in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17292591565138221978.mp4"}
+{"uid":"17029434398501196288","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":"13893332306947556271.mp4"}
+{"uid":"17469978573044306522","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":"5545223585779061909.mp4"}
+{"uid":"14772091586271222540","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissue in stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9587068883220205380.mp4"}
+{"uid":"9886676948612825647","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place apple on the table Q: immediate next step? \u003cPRED\u003eA: place banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place banana on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place banana on the table 2- place banana on the table 3- place orange on the table 4- place banana on the table 5- place banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place banana on the table\n\u003c/PRED\u003e","video":"11264384673104205989.mp4"}
+{"uid":"13032529094610721587","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place banana on the table 3- place banana on the table 4- place orange on the table 5- place banana on the table Q: immediate next step? \u003cPRED\u003eA: place 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: place banana 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- place apple on the table 2- place banana on the table 3- place banana on the table 4- place orange on the table 5- place banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place banana on the table 2- place orange on the table 3- place fruit on the table 4- place fruit on the table 5- place pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15902626369300713158.mp4"}
+{"uid":"13405418324381172135","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":"14501401116615236409.mp4"}
+{"uid":"5569368156096357448","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the glass on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup of water then bring it to my desk please. last 20 steps: 1- place the plastic glass on water purifier 2- press the button 3- place the glass on table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup of water then bring it to my desk please. last 20 steps: 1- place the plastic glass on water purifier 2- press the button 3- place the glass on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you pour me a cup of water then bring it to my desk please Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the glass 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":"9142621505295673406.mp4"}
+{"uid":"11296699476800698924","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3276693255717934371.mp4"}
+{"uid":"18219906380051656936","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the alphabet tile in the pouch Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5405398844583986541.mp4"}
+{"uid":"6310517678264573825","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":"92725013363621390.mp4"}
+{"uid":"10231398268979011587","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place banana on the table 3- place banana on the table 4- place orange on the table 5- place banana on the table 6- place banana on the table 7- place orange on the table 8- place fruit on the table 9- place fruit on the table 10- place pear on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange on the table 2- 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: place 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- place apple on the table 2- place banana on the table 3- place banana on the table 4- place orange on the table 5- place banana on the table 6- place banana on the table 7- place orange on the table 8- place fruit on the table 9- place fruit on the table 10- place pear on the table Q: immediate next step? \u003cPRED\u003eA: place orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange on the table\n\u003c/PRED\u003e","video":"13288916414477087578.mp4"}
+{"uid":"8130044633645434516","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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- place apple on the table 2- place banana on the table 3- place banana on the table 4- place orange on the table 5- place banana on the table 6- place banana on the table 7- place orange on the table 8- place fruit on the table Q: immediate next step? \u003cPRED\u003eA: place fruit on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place fruit 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: place fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place fruit 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- place apple on the table 2- place banana on the table 3- place banana on the table 4- place orange on the table 5- place banana on the table 6- place banana on the table 7- place orange on the table 8- place fruit on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place fruit on the table 2- place pear on the table 3- place orange on the table 4- done\n\u003c/PRED\u003e","video":"14180174517749123612.mp4"}
+{"uid":"15541155025888406619","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput toy in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7354583695060917935.mp4"}
+{"uid":"879909171503990485","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into 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: please put the fruits into the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl 4- Put the apple 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 banana in the bowl 5- Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl 4- Put the apple in the 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12239396897283743378.mp4"}
+{"uid":"16722221786383896908","text":"\u003ctask:success:discrete:False\u003e\nPut the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl 4- Put the apple in the bowl 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 banana in the bowl 2- Put the apple in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl 4- Put the apple in the bowl 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 banana in the bowl\n\u003c/PRED\u003e","video":"9228718000847137945.mp4"}
+{"uid":"1312972185572169772","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":"11183872178537270152.mp4"}
+{"uid":"11167324504834608692","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npress the button Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2748016265051746017.mp4"}
+{"uid":"3621807192879904990","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple 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 banana in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"8336685453101370833.mp4"}
+{"uid":"9410610143605136348","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":"1041730550269351445.mp4"}
+{"uid":"14779674522103760275","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bunch of grapes 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 put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the bunch of grapes in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bunch of grapes 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 put the fruits into the bowl. last 20 steps: 1- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the bunch of grapes in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bunch of grapes in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bunch of grapes in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bunch of grapes in the bowl 2- Put the orange in the bowl 3- Put the apple in the bowl 4- Put the orange in the bowl 5- Put the orange in the bowl\n\u003c/PRED\u003e","video":"2736628687952157832.mp4"}
+{"uid":"3518610627641428027","text":"\u003ctask:success:discrete:True\u003e\nplace fruit on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 fruit on the table\n\u003c/PRED\u003e","video":"12292828011313262764.mp4"}
+{"uid":"5862900459285526356","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":"17969624477670178730.mp4"}
+{"uid":"8267239873346977588","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place banana on the table 3- place banana on the table 4- place orange on the table Q: immediate next step? \u003cPRED\u003eA: place banana 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- place apple on the table 2- place banana on the table 3- place banana on the table 4- place orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place banana on the table 2- place banana on the table 3- place orange on the table 4- place fruit on the table 5- place fruit on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place 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: place banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15207401408706317417.mp4"}
+{"uid":"3683811017277603487","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place banana on the table 3- place banana on the table 4- place orange on the table 5- place banana on the table 6- place banana on the table 7- place orange on the table 8- place fruit on the table 9- place fruit on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pear on the table 2- place orange on the table 3- 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- place apple on the table 2- place banana on the table 3- place banana on the table 4- place orange on the table 5- place banana on the table 6- place banana on the table 7- place orange on the table 8- place fruit on the table 9- place fruit on the table Q: immediate next step? \u003cPRED\u003eA: place pear on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pear 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: place pear on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pear on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:affordance:discriminative:discrete:True\u003e\nplace 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":"9912105742296779748.mp4"}
+{"uid":"2799539637793209007","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pepsi can in the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15928950101176282433.mp4"}
+{"uid":"9929366742879760253","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup of water then bring it to my desk please. last 20 steps: 1- place the plastic glass on water purifier 2- press the button Q: immediate next step? \u003cPRED\u003eA: place the glass on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the glass 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 glass 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 glass on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you pour me a cup of water then bring it to my desk please Q: immediate next step? \u003cPRED\u003eA: place the glass on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup of water then bring it to my desk please. last 20 steps: 1- place the plastic glass on water purifier 2- press the button Q: next 5 steps? \u003cPRED\u003eA: 1- place the glass 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 glass on table\n\u003c/PRED\u003e","video":"1047737796057071461.mp4"}
+{"uid":"10705949109411867899","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the strainer into the left 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":"10379554802134074041.mp4"}
+{"uid":"5349936663316811814","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":"13089737305642981977.mp4"}
+{"uid":"11503950398608837283","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the candy in the glass cage Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11333555069257250434.mp4"}
+{"uid":"5429820998501860206","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl 4- Put the apple 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: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"7077559968190169836.mp4"}
+{"uid":"16445402236154966269","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":"8635612476863968713.mp4"}
+{"uid":"14777893754291472075","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npress the button Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup of water then bring it to my desk please. last 20 steps: 1- place the plastic glass on water purifier Q: next 5 steps? \u003cPRED\u003eA: 1- press the button 2- place the glass on table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup of water then bring it to my desk please. last 20 steps: 1- place the plastic glass on water purifier Q: immediate next step? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you pour me a cup of water then bring it to my desk please Q: immediate next step? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: press the button\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npress the button Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4141201287942817275.mp4"}
+{"uid":"12220974423663101139","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":"15432354263823032185.mp4"}
+{"uid":"16766004189854281690","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic fork in stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11272987452438053744.mp4"}
+{"uid":"12696879483593477377","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place 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: place 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: 1- place apple on the table 2- place banana on the table 3- place banana on the table 4- place orange on the table 5- place banana on the table 6- place banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange on the table 2- place fruit on the table 3- place fruit on the table 4- place pear on the table 5- place orange on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place banana on the table 3- place banana on the table 4- place orange on the table 5- place banana on the table 6- place banana on the table Q: immediate next step? \u003cPRED\u003eA: place orange on the table\n\u003c/PRED\u003e","video":"14493925508503546896.mp4"}
+{"uid":"5492617249849634995","text":"\u003ctask:success:discrete:True\u003e\nplace the plastic glass on water purifier Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the plastic glass on water purifier\n\u003c/PRED\u003e","video":"2311615101863009902.mp4"}
+{"uid":"12221134715553850343","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place fruit on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace fruit on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10769439514588559299.mp4"}
+{"uid":"14789389695097082912","text":"\u003ctask:success:discrete:False\u003e\nplace orange on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place banana on the table 3- place banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange on the table 2- place banana on the table 3- place banana on the table 4- place orange on the table 5- place fruit 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: place 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- place apple on the table 2- place banana on the table 3- place banana on the table Q: immediate next step? \u003cPRED\u003eA: place orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17418669347557224748.mp4"}
+{"uid":"15682508704432177481","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the yellow packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9727251863514989881.mp4"}
+{"uid":"14391164675803937992","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"589922887534621254.mp4"}
+{"uid":"6156128646549746900","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl 4- Put the apple in the bowl 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 banana in the bowl 3- Put the apple in the bowl 4- done\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: please put the fruits into the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl 4- Put the apple in the bowl 5- Put the orange in the bowl 6- Put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance: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: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e","video":"8245719056528557197.mp4"}
+{"uid":"10624348150819818967","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":"2503228136800156978.mp4"}
+{"uid":"7351503368635518735","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":"8224993060339239764.mp4"}
+{"uid":"12057517167865853589","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl 4- Put the apple in the bowl 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 banana in the bowl 4- Put the apple in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl 3- Put the orange in the bowl 4- Put the apple in the bowl 5- Put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e","video":"16916504934988995303.mp4"}
+{"uid":"11071858035344576824","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:success:discrete:False\u003e\nPut the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- Put the apple in the bowl 3- Put the orange in the bowl 4- Put the orange in the bowl 5- Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the bowl. last 20 steps: 1- Put the apple in the bowl 2- Put the bunch of grapes in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e","video":"10501894684644290648.mp4"}
+{"uid":"7722603818910242125","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place banana on the table 2- place orange on the table 3- place banana on the table 4- place banana on the table 5- place orange on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place 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- place apple on the table 2- place banana on the table Q: immediate next step? \u003cPRED\u003eA: place banana on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place banana on the table\n\u003c/PRED\u003e","video":"5830047031841068568.mp4"}
+{"uid":"13596399884329901550","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup of water then bring it to my desk please. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the plastic glass on water purifier 2- press the button 3- place the glass on table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the plastic glass on water purifier Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the plastic glass on water purifier Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the plastic glass on water purifier\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you pour me a cup of water then bring it to my desk please Q: immediate next step? \u003cPRED\u003eA: place the plastic glass on water purifier\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you pour me a cup of water then bring it to my desk please. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the plastic glass on water purifier\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the plastic glass on water purifier\n\u003c/PRED\u003e","video":"14660487154027430567.mp4"}
+{"uid":"7942266610856065115","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl. last 20 steps: 1- place apple on the table 2- place banana on the table 3- place banana on the table 4- place orange on the table 5- place banana on the table 6- place banana on the table 7- place orange on the table Q: immediate next step? \u003cPRED\u003eA: place fruit on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place fruit on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace fruit on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 fruit on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the fruits from the bowl Q: immediate next step? \u003cPRED\u003eA: place fruit on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place fruit 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- place apple on the table 2- place banana on the table 3- place banana on the table 4- place orange on the table 5- place banana on the table 6- place banana on the table 7- place orange on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place fruit on the table 2- place fruit on the table 3- place pear on the table 4- place orange on the table 5- done\n\u003c/PRED\u003e","video":"13987426691822375381.mp4"}
+{"uid":"13935965442004654460","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":"10687180894027235247.mp4"}
+{"uid":"6064340484740776952","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the 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: Pleasse remove the chips from the top draw and place them in the bin that is on the table. Q: immediate next step? \u003cPRED\u003eA: Place the brown 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 brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the brown 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: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: 1- Open the cardboard drawer 2- Place the popcorn packet in the tray 3- Arrange the packet in the tray 4- Place the popcorn packet in the tray 5- Arrange popcorn packets in the tray 6- Place the popcorn packet in the tray 7- Place the popcorn packet in the tray 8- Arrange the popcorn packet in order 9- Place the black packet in the tray 10- Arrange the packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the brown packet in the tray 2- Arrange the packets in the tray 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: 1- Open the cardboard drawer 2- Place the popcorn packet in the tray 3- Arrange the packet in the tray 4- Place the popcorn packet in the tray 5- Arrange popcorn packets in the tray 6- Place the popcorn packet in the tray 7- Place the popcorn packet in the tray 8- Arrange the popcorn packet in order 9- Place the black packet in the tray 10- Arrange the packets in the tray Q: immediate next step? \u003cPRED\u003eA: Place the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the brown packet in the tray\n\u003c/PRED\u003e","video":"3412073730184626821.mp4"}
+{"uid":"5448705029803686620","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the popcorn 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 popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: 1- Open the cardboard drawer 2- Place the popcorn packet in the tray 3- Arrange the packet in the tray 4- Place the popcorn packet in the tray 5- Arrange popcorn packets in the tray Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: 1- Open the cardboard drawer 2- Place the popcorn packet in the tray 3- Arrange the packet in the tray 4- Place the popcorn packet in the tray 5- Arrange popcorn packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the popcorn packet in the tray 2- Place the popcorn packet in the tray 3- Arrange the popcorn packet in order 4- Place the black packet in the tray 5- Arrange the packets in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the popcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5074785009420592659.mp4"}
+{"uid":"9059037459867676048","text":"\u003ctask:success:discrete:True\u003e\nPlace the popcorn 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 popcorn packet in the tray\n\u003c/PRED\u003e","video":"6736098966414878721.mp4"}
+{"uid":"17246221566500588306","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the grapes in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the grapes in the bowl 2- Put the cherries in the bowl 3- Put the orange in the bowl 4- Put the orange in the bowl 5- Put the grapes in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the grapes 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 grapes in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the grapes 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 grapes in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the grapes in the bowl\n\u003c/PRED\u003e","video":"9719607640225152159.mp4"}
+{"uid":"9744253673096722090","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the cherries in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl 5- Put the cherries in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the grapes in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cherries in the bowl 2- Put the cherries in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cherries in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the cherries 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 cherries 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 put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl 5- Put the cherries in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the grapes in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the cherries in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cherries in the bowl\n\u003c/PRED\u003e","video":"2921139519714636800.mp4"}
+{"uid":"1001083657038628491","text":"\u003ctask:success:discrete:False\u003e\nArrange the packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. Q: immediate next step? \u003cPRED\u003eA: Arrange the packets in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: 1- Open the cardboard drawer 2- Place the popcorn packet in the tray 3- Arrange the packet in the tray 4- Place the popcorn packet in the tray 5- Arrange popcorn packets in the tray 6- Place the popcorn packet in the tray 7- Place the popcorn packet in the tray 8- Arrange the popcorn packet in order 9- Place the black packet in the tray 10- Arrange the packets in the tray 11- Place the brown packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the packets in the tray 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: 1- Open the cardboard drawer 2- Place the popcorn packet in the tray 3- Arrange the packet in the tray 4- Place the popcorn packet in the tray 5- Arrange popcorn packets in the tray 6- Place the popcorn packet in the tray 7- Place the popcorn packet in the tray 8- Arrange the popcorn packet in order 9- Place the black packet in the tray 10- Arrange the packets in the tray 11- Place the brown packet in the tray Q: immediate next step? \u003cPRED\u003eA: Arrange the packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the packets in the tray\n\u003c/PRED\u003e","video":"9182247555920164286.mp4"}
+{"uid":"15483323954015438273","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl 5- Put the cherries in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the grapes in the bowl 9- Put the cherries in the bowl 10- Put the cherries in the bowl 11- Put the apple in the bowl 12- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the bowl 2- Put the grapes in the bowl 3- Put the banana in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl 5- Put the cherries in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the grapes in the bowl 9- Put the cherries in the bowl 10- Put the cherries in the bowl 11- Put the apple in the bowl 12- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"11231846273787881770.mp4"}
+{"uid":"13966822998171604009","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the popcorn packet in order\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nArrange the popcorn packet in order Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. Q: immediate next step? \u003cPRED\u003eA: Arrange the popcorn packet in order\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the popcorn packet in order Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the popcorn packet in order\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: 1- Open the cardboard drawer 2- Place the popcorn packet in the tray 3- Arrange the packet in the tray 4- Place the popcorn packet in the tray 5- Arrange popcorn packets in the tray 6- Place the popcorn packet in the tray 7- Place the popcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the popcorn packet in order 2- Place the black packet in the tray 3- Arrange the packets in the tray 4- Place the brown packet in the tray 5- Arrange the packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: 1- Open the cardboard drawer 2- Place the popcorn packet in the tray 3- Arrange the packet in the tray 4- Place the popcorn packet in the tray 5- Arrange popcorn packets in the tray 6- Place the popcorn packet in the tray 7- Place the popcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: Arrange the popcorn packet in order\n\u003c/PRED\u003e","video":"7823547911860258704.mp4"}
+{"uid":"3399586515895894035","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the black 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":"14411254388366540204.mp4"}
+{"uid":"8686031245529345533","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl 5- Put the cherries in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the grapes in the bowl 9- Put the cherries in the bowl 10- Put the cherries in the bowl 11- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl 5- Put the cherries in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the grapes in the bowl 9- Put the cherries in the bowl 10- Put the cherries in the bowl 11- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the bowl 2- Put the apple in the bowl 3- Put the grapes in the bowl 4- Put the banana in the bowl 5- done\n\u003c/PRED\u003e","video":"5107340132878084428.mp4"}
+{"uid":"12973936613638716838","text":"\u003ctask:success:discrete:False\u003e\nPut the apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl 5- Put the cherries in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the grapes in the bowl 9- Put the cherries in the bowl 10- Put the cherries in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the bowl 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the grapes in the bowl 5- Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl 5- Put the cherries in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the grapes in the bowl 9- Put the cherries in the bowl 10- Put the cherries in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the apple in the bowl\n\u003c/PRED\u003e","video":"10176305718895887512.mp4"}
+{"uid":"915073630173504608","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":"17347536917944562361.mp4"}
+{"uid":"12706058495064344562","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Arrange the packets in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: 1- Open the cardboard drawer 2- Place the popcorn packet in the tray 3- Arrange the packet in the tray 4- Place the popcorn packet in the tray 5- Arrange popcorn packets in the tray 6- Place the popcorn packet in the tray 7- Place the popcorn packet in the tray 8- Arrange the popcorn packet in order 9- Place the black packet in the tray 10- Arrange the packets in the tray 11- Place the brown packet in the tray 12- Arrange the packets in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nArrange the packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: 1- Open the cardboard drawer 2- Place the popcorn packet in the tray 3- Arrange the packet in the tray 4- Place the popcorn packet in the tray 5- Arrange popcorn packets in the tray 6- Place the popcorn packet in the tray 7- Place the popcorn packet in the tray 8- Arrange the popcorn packet in order 9- Place the black packet in the tray 10- Arrange the packets in the tray 11- Place the brown packet in the tray 12- Arrange the packets in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"16844557239572564222.mp4"}
+{"uid":"9673228312884013941","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":"14767386369579315908.mp4"}
+{"uid":"2277128634943162620","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":"9757294618739515187.mp4"}
+{"uid":"5843873800315874226","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the popcorn 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":"196101817039450526.mp4"}
+{"uid":"3751338667880938777","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","video":"4511831867923582461.mp4"}
+{"uid":"10618019172731156921","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack 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":"3598598784402844081.mp4"}
+{"uid":"8491401433286316698","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl 5- Put the cherries in the bowl\n\u003c/PRED\u003e","video":"3581334385911779530.mp4"}
+{"uid":"13061545936463672326","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- Put the grapes in the bowl 3- Put the cherries 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\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e","video":"11732034786043151765.mp4"}
+{"uid":"10121067647660374605","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the black 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 the black packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. Q: immediate next step? \u003cPRED\u003eA: Place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: 1- Open the cardboard drawer 2- Place the popcorn packet in the tray 3- Arrange the packet in the tray 4- Place the popcorn packet in the tray 5- Arrange popcorn packets in the tray 6- Place the popcorn packet in the tray 7- Place the popcorn packet in the tray 8- Arrange the popcorn packet in order Q: immediate next step? \u003cPRED\u003eA: Place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: 1- Open the cardboard drawer 2- Place the popcorn packet in the tray 3- Arrange the packet in the tray 4- Place the popcorn packet in the tray 5- Arrange popcorn packets in the tray 6- Place the popcorn packet in the tray 7- Place the popcorn packet in the tray 8- Arrange the popcorn packet in order Q: next 5 steps? \u003cPRED\u003eA: 1- Place the black packet in the tray 2- Arrange the packets in the tray 3- Place the brown packet in the tray 4- Arrange the packets 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 black packet in the tray\n\u003c/PRED\u003e","video":"8165284831927631026.mp4"}
+{"uid":"5758454499078652840","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the 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":"12907466713854256795.mp4"}
+{"uid":"11333399691096009788","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":"15813306552705666653.mp4"}
+{"uid":"4557358298056838066","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4883159979780797681.mp4"}
+{"uid":"8680091162795629602","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the coke can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7851712490683080184.mp4"}
+{"uid":"15136346860452700133","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange in a bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6156140893377847184.mp4"}
+{"uid":"5474534208664890369","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":"17667634529345640226.mp4"}
+{"uid":"14547688204800534156","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: 1- Open the cardboard drawer 2- Place the popcorn packet in the tray 3- Arrange the packet in the tray 4- Place the popcorn packet in the tray 5- Arrange popcorn packets in the tray 6- Place the popcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the popcorn packet in the tray 2- Arrange the popcorn packet in order 3- Place the black packet in the tray 4- Arrange the packets in the tray 5- Place the brown packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the popcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: 1- Open the cardboard drawer 2- Place the popcorn packet in the tray 3- Arrange the packet in the tray 4- Place the popcorn packet in the tray 5- Arrange popcorn packets in the tray 6- Place the popcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. Q: immediate next step? \u003cPRED\u003eA: Place the popcorn 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 popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the popcorn packet in the tray\n\u003c/PRED\u003e","video":"12112645804748866535.mp4"}
+{"uid":"11863098409753267980","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. Q: immediate next step? \u003cPRED\u003eA: Arrange popcorn packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange popcorn packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: 1- Open the cardboard drawer 2- Place the popcorn packet in the tray 3- Arrange the packet in the tray 4- Place the popcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: Arrange popcorn packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange popcorn 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange popcorn packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: 1- Open the cardboard drawer 2- Place the popcorn packet in the tray 3- Arrange the packet in the tray 4- Place the popcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange popcorn packets in the tray 2- Place the popcorn packet in the tray 3- Place the popcorn packet in the tray 4- Arrange the popcorn packet in order 5- Place the black packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nArrange popcorn packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17641667104533924836.mp4"}
+{"uid":"3191327373594307619","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl 5- Put the cherries in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the grapes in the bowl 9- Put the cherries in the bowl 10- Put the cherries in the bowl 11- Put the apple in the bowl 12- Put the apple in the bowl 13- Put the apple in the bowl 14- Put the grapes in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl 5- Put the cherries in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the grapes in the bowl 9- Put the cherries in the bowl 10- Put the cherries in the bowl 11- Put the apple in the bowl 12- Put the apple in the bowl 13- Put the apple in the bowl 14- Put the grapes in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana in the bowl 2- done\n\u003c/PRED\u003e","video":"2760320617478909060.mp4"}
+{"uid":"146144946718991302","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl 5- Put the cherries in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the grapes in the bowl 9- Put the cherries in the bowl 10- Put the cherries in the bowl 11- Put the apple in the bowl 12- Put the apple in the bowl 13- Put the apple in the bowl 14- Put the grapes in the bowl 15- Put the banana 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: please put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl 5- Put the cherries in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the grapes in the bowl 9- Put the cherries in the bowl 10- Put the cherries in the bowl 11- Put the apple in the bowl 12- Put the apple in the bowl 13- Put the apple in the bowl 14- Put the grapes in the bowl 15- Put the banana 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 banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut 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:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17061494469551988922.mp4"}
+{"uid":"5864298802377467044","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the grapes in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the grapes in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the grapes 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 put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl 5- Put the cherries 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 grapes in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl 5- Put the cherries 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 grapes in the bowl 2- Put the cherries in the bowl 3- Put the cherries in the bowl 4- Put the apple in the bowl 5- Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the grapes in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the grapes 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":"1070376413189767284.mp4"}
+{"uid":"5415740956604140446","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the popcorn 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":"5350860532363961378.mp4"}
+{"uid":"1582295636315331405","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the banana in the utensil Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16311564523812855198.mp4"}
+{"uid":"12228047001461378312","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the popcorn 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":"14002979347077331087.mp4"}
+{"uid":"9026750852349756758","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the popcorn 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 popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the popcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: 1- Open the cardboard drawer 2- Place the popcorn packet in the tray 3- Arrange the packet in the tray Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: 1- Open the cardboard drawer 2- Place the popcorn packet in the tray 3- Arrange the packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the popcorn packet in the tray 2- Arrange popcorn packets in the tray 3- Place the popcorn packet in the tray 4- Place the popcorn packet in the tray 5- Arrange the popcorn packet in order\n\u003c/PRED\u003e","video":"9184205023100272998.mp4"}
+{"uid":"17698254114281068970","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl 5- Put the cherries 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:success:discrete:False\u003e\nPut the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl 5- Put the cherries 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 grapes in the bowl 4- Put the cherries in the bowl 5- Put the cherries in the bowl\n\u003c/PRED\u003e","video":"10182432105051875033.mp4"}
+{"uid":"12269615769555704166","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the cardboard drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. Q: immediate next step? \u003cPRED\u003eA: Open the cardboard drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the cardboard drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the cardboard drawer 2- Place the popcorn packet in the tray 3- Arrange the packet in the tray 4- Place the popcorn packet in the tray 5- Arrange popcorn packets in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the cardboard drawer\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:affordance:discriminative:discrete:True\u003e\nOpen the cardboard drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"367746697798445009.mp4"}
+{"uid":"14128200235410441387","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cherries in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the cherries in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl 5- Put the cherries in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the grapes in the bowl 9- Put the cherries in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the cherries in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cherries in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cherries 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 put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl 5- Put the cherries in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the grapes in the bowl 9- Put the cherries in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cherries in the bowl 2- Put the apple in the bowl 3- Put the apple in the bowl 4- Put the apple in the bowl 5- Put the grapes in the bowl\n\u003c/PRED\u003e","video":"9991208226240059459.mp4"}
+{"uid":"15666882303160348311","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":"981717096210497848.mp4"}
+{"uid":"3988206040121113280","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 1 pistachio in 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":"7671940539013254641.mp4"}
+{"uid":"6833130706645309246","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to the left side table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"981215260955181245.mp4"}
+{"uid":"10581559223233455490","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. Q: immediate next step? \u003cPRED\u003eA: Arrange the packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange 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: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: 1- Open the cardboard drawer 2- Place the popcorn packet in the tray Q: immediate next step? \u003cPRED\u003eA: Arrange the packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nArrange 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: 1- Open the cardboard drawer 2- Place the popcorn packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the packet in the tray 2- Place the popcorn packet in the tray 3- Arrange popcorn packets in the tray 4- Place the popcorn packet in the tray 5- Place the popcorn packet in the tray\n\u003c/PRED\u003e","video":"5756759310772875211.mp4"}
+{"uid":"12682934031701935547","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":"7675247076242939352.mp4"}
+{"uid":"9719038010242972420","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the brown box into 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":"8484077481236867313.mp4"}
+{"uid":"10293228494780474402","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the spoon 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":"15574041911061355641.mp4"}
+{"uid":"7867279961917961702","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the green apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the green apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green apple in the bowl 2- Put the orange in the bowl 3- Put the grapes in the bowl 4- Put the cherries in the bowl 5- Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6935189519732899164.mp4"}
+{"uid":"7014402896188367131","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"7429789326440173049.mp4"}
+{"uid":"4407124177023993202","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":"1740312153656973195.mp4"}
+{"uid":"17368877369415192947","text":"\u003ctask:success:discrete:False\u003e\nPlace the popcorn packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the popcorn packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: 1- Open the cardboard drawer Q: immediate next step? \u003cPRED\u003eA: Place the popcorn packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: 1- Open the cardboard drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the popcorn packet in the tray 2- Arrange the packet in the tray 3- Place the popcorn packet in the tray 4- Arrange popcorn packets in the tray 5- Place the popcorn packet in the tray\n\u003c/PRED\u003e","video":"10138317728662931922.mp4"}
+{"uid":"14892095213654405921","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the packets in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the packets in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: 1- Open the cardboard drawer 2- Place the popcorn packet in the tray 3- Arrange the packet in the tray 4- Place the popcorn packet in the tray 5- Arrange popcorn packets in the tray 6- Place the popcorn packet in the tray 7- Place the popcorn packet in the tray 8- Arrange the popcorn packet in order 9- Place the black packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the packets in the tray 2- Place the brown packet in the tray 3- Arrange the packets in the tray 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nArrange the packets in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. last 20 steps: 1- Open the cardboard drawer 2- Place the popcorn packet in the tray 3- Arrange the packet in the tray 4- Place the popcorn packet in the tray 5- Arrange popcorn packets in the tray 6- Place the popcorn packet in the tray 7- Place the popcorn packet in the tray 8- Arrange the popcorn packet in order 9- Place the black packet in the tray Q: immediate next step? \u003cPRED\u003eA: Arrange the packets in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Pleasse remove the chips from the top draw and place them in the bin that is on the table. Q: immediate next step? \u003cPRED\u003eA: Arrange the packets in the tray\n\u003c/PRED\u003e","video":"9969687572190033276.mp4"}
+{"uid":"1355201497693942999","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl 5- Put the cherries 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 grapes in the bowl 3- Put the cherries in the bowl 4- Put the cherries in the bowl 5- Put the apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl 5- Put the cherries 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","video":"16325106758181533922.mp4"}
+{"uid":"15289864077208424476","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green marker on the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10441198273379460202.mp4"}
+{"uid":"224914002750262791","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl 5- Put the cherries in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the grapes in the bowl 9- Put the cherries in the bowl 10- Put the cherries in the bowl 11- Put the apple in the bowl 12- Put the apple in the bowl 13- Put the apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the grapes in the bowl 2- Put the banana in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the grapes in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the grapes 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 put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl 5- Put the cherries in the bowl 6- Put the orange in the bowl 7- Put the orange in the bowl 8- Put the grapes in the bowl 9- Put the cherries in the bowl 10- Put the cherries in the bowl 11- Put the apple in the bowl 12- Put the apple in the bowl 13- Put the apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the grapes in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the grapes 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 grapes in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the grapes in the bowl\n\u003c/PRED\u003e","video":"13895602772571216943.mp4"}
+{"uid":"16989153162195817600","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the banana on the bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13094152448938054040.mp4"}
+{"uid":"9098470980289175022","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep 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":"454465058106945898.mp4"}
+{"uid":"1432623246510758545","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstuck 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":"7908047993454631168.mp4"}
+{"uid":"16004843303468710683","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen on the pens Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6364427439957111619.mp4"}
+{"uid":"7989913333122136165","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npickup 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":"3084282212024239117.mp4"}
+{"uid":"16074218979771892453","text":"\u003ctask:success:discrete:False\u003e\nPut the cherries 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 put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cherries in the bowl 2- Put the orange in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl 5- Put the cherries in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cherries 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 put the fruit into the bowl. last 20 steps: 1- Put the orange in the bowl 2- Put the green apple in the bowl 3- Put the orange in the bowl 4- Put the grapes in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the cherries in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cherries in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cherries in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruit into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the cherries in the bowl\n\u003c/PRED\u003e","video":"9731496675809714618.mp4"}
+{"uid":"6930990085338033573","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the right 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":"7233437210493195407.mp4"}
+{"uid":"6208370823032357470","text":"\u003ctask:success:discrete:False\u003e\nput orange in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl. last 20 steps: 1- place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in white bowl 2- place the orange in the bowl 3- place the banana in the bowl 4- move the bowl near the cans 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl. last 20 steps: 1- place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e","video":"2406384270742669583.mp4"}
+{"uid":"5322994366410035733","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":"13507557267651220162.mp4"}
+{"uid":"12404803774024362345","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":"9389117835840855370.mp4"}
+{"uid":"11905502910730990392","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl. 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 banana in the bowl 3- move the bowl near the cans 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl. 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the fruit 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":"17292666656217298932.mp4"}
+{"uid":"6035419105239789410","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana in the bowl 2- move the bowl near the cans 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the banana in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the banana in the bowl\n\u003c/PRED\u003e","video":"17034917934581408810.mp4"}
+{"uid":"17676168394022903120","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl. 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: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: please place all the fruit in the bowl 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: please place all the fruit in the bowl. last 20 steps: 1- 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- place the banana in the bowl 4- move the bowl near the cans 5- done\n\u003c/PRED\u003e","video":"8228475863568585521.mp4"}
+{"uid":"8008316530407661196","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl. last 20 steps: 1- place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- place the orange in the bowl 3- place the banana in the bowl 4- move the bowl near the cans 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl. last 20 steps: 1- place 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: please place all the fruit in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e","video":"5431196556733460035.mp4"}
+{"uid":"9092664894122594054","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the duster 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":"4646100296444831894.mp4"}
+{"uid":"1089425604995842526","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: please place all the fruit in the bowl. 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: please place all the fruit in the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange in the bowl 2- place the orange in the bowl 3- place the orange in the bowl 4- place the banana in the bowl 5- move the bowl near the cans\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: please place all the fruit in the bowl Q: immediate next step? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e","video":"11605148908205084426.mp4"}
+{"uid":"10344000484004959514","text":"\u003ctask:success:discrete:False\u003e\nArrange 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:planning:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl Q: immediate next step? \u003cPRED\u003eA: Arrange the banana in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the banana in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- place the orange in the bowl 4- place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the banana in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- place the orange in the bowl 4- place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Arrange the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange 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":"3960681972032258835.mp4"}
+{"uid":"6332890429357092544","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses on the 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":"17158412341783125852.mp4"}
+{"uid":"18066690326539625037","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue 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":"14105423932595056600.mp4"}
+{"uid":"5955036199179159576","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a stikcy notes 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":"1300393626340866736.mp4"}
+{"uid":"6953377804540583472","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":"2740743319733979606.mp4"}
+{"uid":"11810099472456045135","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the wrappers 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":"17898512953954262692.mp4"}
+{"uid":"1755855914148456998","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put orange in white bowl 2- place the orange in the bowl 3- place the orange in the bowl 4- place the banana in the bowl 5- move the bowl near the cans\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput orange in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16851438484356143372.mp4"}
+{"uid":"679440077050839951","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17070151294640981419.mp4"}
+{"uid":"717410436484549844","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"6704488299724670046.mp4"}
+{"uid":"4911693761246520935","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black pen 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":"17553140229502298196.mp4"}
+{"uid":"2320976073767979737","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace glass on 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":"7642699237725695311.mp4"}
+{"uid":"8298412349335055269","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the left 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":"3504334794492010099.mp4"}
+{"uid":"8684447365610873760","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: please place all the fruit in the bowl. 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 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: please place all the fruit in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl. 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 bowl 2- place the banana in the bowl 3- move the bowl near the cans 4- done\n\u003c/PRED\u003e","video":"17157962008819655703.mp4"}
+{"uid":"7686599559721878577","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":"7637249196792392474.mp4"}
+{"uid":"2309440142596418570","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange 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":"15223252892253138114.mp4"}
+{"uid":"12755364340396341173","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput banana in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in white bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput banana in white bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put banana in white bowl 2- move the bowl near the cans 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl Q: immediate next step? \u003cPRED\u003eA: put banana in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put banana in white bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put banana in white bowl\n\u003c/PRED\u003e","video":"8563633606552819073.mp4"}
+{"uid":"13021074010156996287","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange packet into the brown tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7381961561154422450.mp4"}
+{"uid":"14071404940251397429","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl. 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 orange in white bowl 2- place the banana in the bowl 3- move the bowl near the cans 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput orange in white bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl Q: immediate next step? \u003cPRED\u003eA: put orange in white bowl\n\u003c/PRED\u003e","video":"4042365998774636372.mp4"}
+{"uid":"168705120804177650","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the bowl forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- place the orange in the bowl 4- place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: Move the bowl forward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the bowl forward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- place the orange in the bowl 4- place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Move the bowl forward 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl Q: immediate next step? \u003cPRED\u003eA: Move the bowl forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the bowl 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 bowl 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":"10441941867959152584.mp4"}
+{"uid":"792109621340878132","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- place the orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana in the bowl 2- move the bowl near the cans 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e\u003ctask: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 place all the fruit in the bowl. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- place the orange in the bowl Q: immediate next step? \u003cPRED\u003eA: place the banana in the bowl\n\u003c/PRED\u003e","video":"14601596383134477062.mp4"}
+{"uid":"16443336269637094815","text":"\u003ctask:success:discrete:False\u003e\nmove the bowl near the cans Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 bowl near the cans Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 all the fruit in the bowl Q: immediate next step? \u003cPRED\u003eA: move the bowl near the cans\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- place the orange in the bowl 4- place the banana in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- move the bowl near the cans 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the bowl near the cans\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the bowl near the cans\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl. last 20 steps: 1- place the orange in the bowl 2- place the orange in the bowl 3- place the orange in the bowl 4- place the banana in the bowl Q: immediate next step? \u003cPRED\u003eA: move the bowl near the cans\n\u003c/PRED\u003e","video":"9611573019357455935.mp4"}
+{"uid":"11425485025340977056","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: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: please place all the fruit in the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the bowl 2- place the orange in the bowl 3- place the orange in the bowl 4- place the banana in the bowl 5- move the bowl near the cans\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: please place all the fruit in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all the fruit in the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the orange in the bowl\n\u003c/PRED\u003e","video":"17026625418743021307.mp4"}
+{"uid":"10141854020108692490","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: enter into the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: enter into the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray 5- pick up the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nenter 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:success:discrete:False\u003e\nenter 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\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. Q: immediate next step? \u003cPRED\u003eA: enter into the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter into the room\n\u003c/PRED\u003e","video":"17927350707444416422.mp4"}
+{"uid":"12355122368932070568","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. 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 packet on the table 7- 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- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. 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 packet on the table 7- 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 out oatmeal from the rack Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"696644695577914574.mp4"}
+{"uid":"16759819933880147055","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. 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:planning:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack 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 out oatmeal from the rack. 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 packet on the table 5- 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: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":"660297943732825465.mp4"}
+{"uid":"13104036296787204633","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. Q: immediate next step? \u003cPRED\u003eA: pick up packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up 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 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: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick up packet 2- enter the room 3- enter into the room 4- place packet on white table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray Q: immediate next step? \u003cPRED\u003eA: pick up packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up packet\n\u003c/PRED\u003e","video":"803603048494638348.mp4"}
+{"uid":"5470809915034406594","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. 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 packet on the table 7- place the packet on the table 8- place the packet on the table 9- 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: Take out oatmeal from the rack. 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 packet on the table 7- place the packet on the table 8- place the packet on the table 9- place the packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the 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 packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack 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","video":"7992447225246079706.mp4"}
+{"uid":"15393110456446784787","text":"\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray 5- pick up the packet Q: next 5 steps? \u003cPRED\u003eA: 1- leave the room 2- enter the room 3- enter into the room 4- place packet on white table 5- done\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:planning:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. Q: immediate next step? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray 5- pick up the packet Q: immediate next step? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e","video":"17244748698411852966.mp4"}
+{"uid":"5484601144611698851","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the packet 2- leave the room 3- enter the room 4- enter into the room 5- place packet on white table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16060740306892562086.mp4"}
+{"uid":"16083583254500085119","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":"1561326838984536075.mp4"}
+{"uid":"14695378297593502908","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop wipes packet 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":"15102992488382791280.mp4"}
+{"uid":"9629814325751778455","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. Q: immediate next step? \u003cPRED\u003eA: push the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet Q: next 5 steps? \u003cPRED\u003eA: 1- push the tray 2- pick up the packet 3- leave the room 4- enter the room 5- enter into the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet Q: immediate next step? \u003cPRED\u003eA: push the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush 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":"4442899068199692571.mp4"}
+{"uid":"8232433199677139358","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace banana on tissue Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3180384696843748056.mp4"}
+{"uid":"14524931028112996625","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":"3509143725869093356.mp4"}
+{"uid":"9826948861934434588","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray 5- pick up the packet 6- leave the room 7- enter the room 8- enter into the room Q: immediate next step? \u003cPRED\u003eA: place packet on white table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet on 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:affordance:discriminative:discrete:True\u003e\nplace packet on white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on white table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on white table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. Q: immediate next step? \u003cPRED\u003eA: place packet on white table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray 5- pick up the packet 6- leave the room 7- enter the room 8- enter into the room Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on white table 2- done\n\u003c/PRED\u003e","video":"14924500499776486556.mp4"}
+{"uid":"10720914965281111825","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack 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 out oatmeal from the rack. 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 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: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 out oatmeal from the rack. 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","video":"7817363184996258801.mp4"}
+{"uid":"7566205110474378688","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white 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":"18297384389023711282.mp4"}
+{"uid":"3181866550519151286","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray 5- pick up the packet Q: immediate next step? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray 5- pick up the packet Q: next 5 steps? \u003cPRED\u003eA: 1- leave room 2- enter into the room 3- place packet on white table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. Q: immediate next step? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nleave room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nleave room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12480832882567983832.mp4"}
+{"uid":"17777129193882087756","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the yellow chocolate into the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"617085270352973510.mp4"}
+{"uid":"1227178978236454916","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. Q: immediate next step? \u003cPRED\u003eA: pick up the green packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the green packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the green packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray Q: immediate next step? \u003cPRED\u003eA: pick up the green packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the green packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the green packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the green packet 2- push the tray 3- pick up the packet 4- leave the room 5- enter the room\n\u003c/PRED\u003e","video":"7976276623872319907.mp4"}
+{"uid":"3810004958495801833","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: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: get the chocolate chip cookies from the microkitchen and bring it to the counter. Q: immediate next step? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray 5- pick up the packet 6- leave the room Q: immediate next step? \u003cPRED\u003eA: enter the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray 5- pick up the packet 6- leave the room Q: next 5 steps? \u003cPRED\u003eA: 1- enter the room 2- enter into the room 3- place packet on white table 4- done\n\u003c/PRED\u003e","video":"13488622365566922754.mp4"}
+{"uid":"1116876910559430202","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":"5851940608964383392.mp4"}
+{"uid":"6995860339455594192","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic knife on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16458992945316158912.mp4"}
+{"uid":"334401463128784965","text":"\u003ctask:success:discrete:True\u003e\npull 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: pull the tray\n\u003c/PRED\u003e","video":"12816089736378082646.mp4"}
+{"uid":"13085714586084113289","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. 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 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- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. 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 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: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 out oatmeal from the rack Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"2239453023219585016.mp4"}
+{"uid":"17337841292040195524","text":"\u003ctask:success:discrete:True\u003e\nenter 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: enter into the room\n\u003c/PRED\u003e","video":"2902868895325188790.mp4"}
+{"uid":"15683956498798211576","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red 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":"12161828300164491941.mp4"}
+{"uid":"10517296352820467833","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. 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 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:planning:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack 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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. 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","video":"8497888848944305354.mp4"}
+{"uid":"1030828467692565427","text":"\u003ctask:success:discrete:True\u003e\npick up the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e","video":"15956619476536058820.mp4"}
+{"uid":"16797982721271192020","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray 5- pick up the packet 6- leave the room 7- enter the room 8- put packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray 5- pick up the packet 6- leave the room 7- enter the room 8- put packet on table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. Q: immediate next step? \u003cPRED\u003eA: done\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":"7769358372317308914.mp4"}
+{"uid":"8832018070397074139","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray 5- pick up the packet 6- leave the room 7- enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray 5- pick up the packet 6- leave the room 7- enter the room Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e","video":"1792690493921656451.mp4"}
+{"uid":"16434978548169267856","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray 5- pick up the packet 6- leave the room 7- enter the room 8- enter into the room 9- keep the 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: keep the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray 5- pick up the packet 6- leave the room 7- enter the room 8- enter into the room 9- keep the packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nkeep 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:planning:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1281693419688170009.mp4"}
+{"uid":"11368947271663800196","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":"1447132413482888336.mp4"}
+{"uid":"14620243447349582311","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":"2401597635224507141.mp4"}
+{"uid":"6037579688270666241","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":"12177866318454951037.mp4"}
+{"uid":"2779754127574287779","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. Q: immediate next step? \u003cPRED\u003eA: pull the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room Q: immediate next step? \u003cPRED\u003eA: pull the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room Q: next 5 steps? \u003cPRED\u003eA: 1- pull the tray 2- pick up the green packet 3- push the tray 4- pick up the packet 5- leave the room\n\u003c/PRED\u003e","video":"1780991642823236753.mp4"}
+{"uid":"15926266901066657405","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the basket 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":"5755003455300379445.mp4"}
+{"uid":"12916179219529978229","text":"\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:planning:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack 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: Take out oatmeal from the rack. 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: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 out oatmeal from the rack. 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 packet on the table 4- place the packet on the table 5- place the packet on the table\n\u003c/PRED\u003e","video":"11659316295511136328.mp4"}
+{"uid":"10436169060051032378","text":"\u003ctask:success:discrete:True\u003e\nenter 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: enter into the room\n\u003c/PRED\u003e","video":"3597527574051114036.mp4"}
+{"uid":"13748191171825378481","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npull the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room Q: next 5 steps? \u003cPRED\u003eA: 1- pull the tray 2- pick up the green packet 3- push the tray 4- pick up the packet 5- leave the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room Q: immediate next step? \u003cPRED\u003eA: pull the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. Q: immediate next step? \u003cPRED\u003eA: pull the tray\n\u003c/PRED\u003e","video":"18342648032724482754.mp4"}
+{"uid":"10743465374303041391","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: leave room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nleave room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"189894078309332855.mp4"}
+{"uid":"13401026387896830840","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":"3782466486889714093.mp4"}
+{"uid":"8074244054954006796","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the glass in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11403703693308630372.mp4"}
+{"uid":"6342313130919620283","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput clip in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4434521785662562038.mp4"}
+{"uid":"4824741916433067039","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep the packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray 5- pick up the packet 6- leave the room 7- enter the room 8- enter into the room Q: next 5 steps? \u003cPRED\u003eA: 1- keep the packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray 5- pick up the packet 6- leave the room 7- enter the room 8- enter into the room Q: immediate next step? \u003cPRED\u003eA: keep the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. Q: immediate next step? \u003cPRED\u003eA: keep the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep 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\nkeep the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2992043589156609095.mp4"}
+{"uid":"4982634790752169195","text":"\u003ctask:success:discrete:True\u003e\npick up the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e","video":"15055371405620936999.mp4"}
+{"uid":"9719244437566269783","text":"\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"13375196875060745246.mp4"}
+{"uid":"4596357478948068169","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the toffee 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":"11870407786158413788.mp4"}
+{"uid":"12581551725097595923","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:planning:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack 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: Take out oatmeal from the rack. 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 packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. 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 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: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":"1787687344415172382.mp4"}
+{"uid":"9861244823813117877","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":"1559801979985944117.mp4"}
+{"uid":"18027038557631173116","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nleave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6552139815927811159.mp4"}
+{"uid":"14808618607252918636","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the green packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the green 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":"5269742154798109927.mp4"}
+{"uid":"11094521880138249081","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":"8127460004194813335.mp4"}
+{"uid":"4087719225009609649","text":"\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: Take out oatmeal from the rack 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Take out oatmeal from the rack. 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 packet on the table 7- place the packet on the table 8- 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: Take out oatmeal from the rack. 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 packet on the table 7- place the packet on the table 8- 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- done\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","video":"15897879289040868889.mp4"}
+{"uid":"9627348087801621902","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":"1720618597600834005.mp4"}
+{"uid":"13841419569555824479","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the packet 2- enter the room 3- enter into the room 4- place packet on white table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12834600111881117505.mp4"}
+{"uid":"6603096072950355999","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chew toy 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":"13050601550738177212.mp4"}
+{"uid":"7909522304335310633","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a blue balloon in the left 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":"4440869374731470184.mp4"}
+{"uid":"15954456283536031635","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16171343621850635156.mp4"}
+{"uid":"16647606693177601166","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nSlightly push the top left plant to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2892525165863457227.mp4"}
+{"uid":"6527399045955607078","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":"5782733310470487499.mp4"}
+{"uid":"3106453943961817742","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the seaweed snacks packet to left side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1358659566110460227.mp4"}
+{"uid":"17137221376263584808","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray 5- pick up the packet Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- enter the room 3- enter into the room 4- place packet on white table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up 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: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: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray 5- pick up the packet 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","video":"16139194253605878722.mp4"}
+{"uid":"14535300624072604576","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp 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":"4571424841965813235.mp4"}
+{"uid":"10801047769271916474","text":"\u003ctask:success:discrete:True\u003e\npush 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: push the tray\n\u003c/PRED\u003e","video":"1124099345002731689.mp4"}
+{"uid":"10857502314148942564","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut a packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1859674639709125022.mp4"}
+{"uid":"4277972426642665684","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pull the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npull 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":"4289172259758541548.mp4"}
+{"uid":"12656382125679478508","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. Q: immediate next step? \u003cPRED\u003eA: enter into the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nenter 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray 5- pick up the packet 6- leave the room 7- enter the room Q: immediate next step? \u003cPRED\u003eA: enter into the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nenter 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\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: enter into the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get the chocolate chip cookies from the microkitchen and bring it to the counter. last 20 steps: 1- enter into the room 2- pull the tray 3- pick up the green packet 4- push the tray 5- pick up the packet 6- leave the room 7- enter the room Q: next 5 steps? \u003cPRED\u003eA: 1- enter into the room 2- place packet on white table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter into the room\n\u003c/PRED\u003e","video":"1643379000321324729.mp4"}
+{"uid":"2117443777556457217","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":"14249828433085074551.mp4"}
+{"uid":"15049069957217067078","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: Drop paper into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop paper into 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 put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder 6- Drop clip into stand 7- Drop note stick into stand Q: next 5 steps? \u003cPRED\u003eA: 1- Drop paper into stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop paper into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop paper into stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop paper into stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder 6- Drop clip into stand 7- Drop note stick into stand Q: immediate next step? \u003cPRED\u003eA: Drop paper into stand\n\u003c/PRED\u003e","video":"7916839589330206278.mp4"}
+{"uid":"13733999091500358095","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Drop clip into stand 2- Drop note stick into stand 3- Drop paper into stand 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop clip into stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop clip into 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\nDrop clip into 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 put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: Drop clip into stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder Q: immediate next step? \u003cPRED\u003eA: Drop clip into stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop clip into stand\n\u003c/PRED\u003e","video":"15191753792370931301.mp4"}
+{"uid":"18229538734154272397","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the black blinder paper clip in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the black blinder paper clip 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":"8698207594224656740.mp4"}
+{"uid":"14325114383154100399","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the chocolate paper in 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":"13974814783000898315.mp4"}
+{"uid":"18270586662729328726","text":"\u003ctask:success:discrete:False\u003e\nplace the sticky note in the pan holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder 6- Drop clip into stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticky note in the pan holder 2- Drop paper into stand 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sticky note in the pan holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: place the sticky note in the pan holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sticky note in the pan holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticky note in the pan holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder 6- Drop clip into stand Q: immediate next step? \u003cPRED\u003eA: place the sticky note in the pan holder\n\u003c/PRED\u003e","video":"3902463241096835112.mp4"}
+{"uid":"6425504704180442834","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: Drop marker into stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- Drop marker into stand 2- put the marker to the pen holder 3- Drop clip into stand 4- Drop note stick into stand 5- Drop paper into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop marker into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand Q: immediate next step? \u003cPRED\u003eA: Drop marker into stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop marker into stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop marker into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop marker into stand\n\u003c/PRED\u003e","video":"10451855924039296734.mp4"}
+{"uid":"12821394157352906706","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":"6955203706722015370.mp4"}
+{"uid":"16012226727126800007","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: put the sticky note in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the sticky note in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the sticky note in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the sticky note in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder 6- Drop clip into stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the sticky note in the holder 2- Drop paper into stand 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the sticky note in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder 6- Drop clip into stand Q: immediate next step? \u003cPRED\u003eA: put the sticky note in the holder\n\u003c/PRED\u003e","video":"6599934544694940055.mp4"}
+{"uid":"7537999081352898040","text":"\u003ctask:success:discrete:True\u003e\nput the pen in pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in pen holder\n\u003c/PRED\u003e","video":"6152326995648127445.mp4"}
+{"uid":"10431754413946151862","text":"\u003ctask:success:discrete:True\u003e\nDrop pen into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e","video":"14618018230641356109.mp4"}
+{"uid":"16599441123812632863","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":"5463748210227314424.mp4"}
+{"uid":"15538864690609991583","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange marker in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2735537121736701892.mp4"}
+{"uid":"7392218572474829371","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: put the orange glue in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand Q: immediate next step? \u003cPRED\u003eA: put the orange glue in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange glue in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange glue 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 orange glue in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange glue in the holder 2- Drop clip into stand 3- Drop note stick into stand 4- Drop paper into stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange glue in the holder\n\u003c/PRED\u003e","video":"6635185222230619456.mp4"}
+{"uid":"5772932235463385536","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder 6- Drop clip into stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the sticky notes in the holder 2- Drop paper into stand 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder 6- Drop clip into stand Q: immediate next step? \u003cPRED\u003eA: Put the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:affordance: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:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy 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: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":"16973116528931104188.mp4"}
+{"uid":"17605444475414204675","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":"11600889200780975180.mp4"}
+{"uid":"10932302514781625354","text":"\u003ctask:success:discrete:True\u003e\nPut the purple 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 purple pen in the holder\n\u003c/PRED\u003e","video":"2312821894347882151.mp4"}
+{"uid":"5763521817275822148","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13137840372203009204.mp4"}
+{"uid":"3056856112625982050","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":"1891084929191050602.mp4"}
+{"uid":"378068643363182353","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: put the blue glue in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue glue in the holder 2- put the marker to the pen holder 3- Drop clip into stand 4- Drop note stick into stand 5- Drop paper into stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue glue in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue glue in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue glue in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand Q: immediate next step? \u003cPRED\u003eA: put the blue glue in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue glue 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":"8808805779271219950.mp4"}
+{"uid":"15939137094242417647","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a 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":"9956401658483517222.mp4"}
+{"uid":"1652236461089531148","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop marker into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop marker into stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand Q: immediate next step? \u003cPRED\u003eA: Drop marker into stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: Drop marker into stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop marker into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop marker into 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 put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand Q: next 5 steps? \u003cPRED\u003eA: 1- Drop marker into stand 2- Drop clip into stand 3- Drop note stick into stand 4- Drop paper into stand 5- done\n\u003c/PRED\u003e","video":"14718353722748012953.mp4"}
+{"uid":"7794062704507308522","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the red pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the red 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":"8656132691559654659.mp4"}
+{"uid":"3033339193733089103","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":"12335933752270879867.mp4"}
+{"uid":"15470746963971604061","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop note stick into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop note stick into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop note stick into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop note stick into stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder 6- Drop clip into stand Q: next 5 steps? \u003cPRED\u003eA: 1- Drop note stick into stand 2- Drop paper into stand 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder 6- Drop clip into stand Q: immediate next step? \u003cPRED\u003eA: Drop note stick into stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: Drop note stick into stand\n\u003c/PRED\u003e","video":"17195293717421338337.mp4"}
+{"uid":"11597568266609157147","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":"3717822130803703011.mp4"}
+{"uid":"1724471497440317705","text":"\u003ctask:success:discrete:False\u003e\nPut the clip in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the clip in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the clip in the holder 2- Drop note stick into stand 3- Drop paper into stand 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: Put the clip in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the clip in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the clip in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the clip in the holder\n\u003c/PRED\u003e","video":"1606116805274749437.mp4"}
+{"uid":"6980136992673892390","text":"\u003ctask:success:discrete:True\u003e\nDrop marker into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop marker into stand\n\u003c/PRED\u003e","video":"10122799622236817200.mp4"}
+{"uid":"8773368224063899051","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTake the blue packet 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":"8756209485648460256.mp4"}
+{"uid":"12989832905845390213","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in pen holder 2- Drop marker into stand 3- put the marker to the pen holder 4- Drop clip into stand 5- Drop note stick into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: put the pen in pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder Q: immediate next step? \u003cPRED\u003eA: put the pen in pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in pen holder\n\u003c/PRED\u003e","video":"11064818009365301449.mp4"}
+{"uid":"12922115026343655605","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the marker to the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the marker to the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11107799966276663667.mp4"}
+{"uid":"17429328416835390273","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":"1898968540477788540.mp4"}
+{"uid":"9101682672715847924","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the purple pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the purple pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the purple pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the purple 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 purple pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: Put the purple 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 purple pen in the holder\n\u003c/PRED\u003e","video":"17634778019655489162.mp4"}
+{"uid":"18306357101437733692","text":"\u003ctask:success:discrete:True\u003e\nPut the blue pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e","video":"10374271199863769310.mp4"}
+{"uid":"12684553568326266164","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":"4679663339591893699.mp4"}
+{"uid":"6110614387497939488","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black 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":"4321759715792026265.mp4"}
+{"uid":"13421691953786026091","text":"\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:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: Put the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the sticky notes in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder 6- Drop clip into stand 7- Drop note stick into stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the sticky notes in the holder 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder 6- Drop clip into stand 7- Drop note stick into stand 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","video":"3957978497023840747.mp4"}
+{"uid":"14797962984165570934","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"15331928731471298822.mp4"}
+{"uid":"3322427342090440223","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop pen into 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":"13327093228311802014.mp4"}
+{"uid":"13824654936796999568","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the choclate in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"213962047132455426.mp4"}
+{"uid":"7498718371988465486","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana 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":"8305643502452492885.mp4"}
+{"uid":"11854066706268748278","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the blue marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue marker in the holder 2- put the marker to the pen holder 3- Drop clip into stand 4- Drop note stick into stand 5- Drop paper into stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand Q: immediate next step? \u003cPRED\u003eA: Put the blue marker in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: Put the blue marker in the holder\n\u003c/PRED\u003e","video":"8864934505365204673.mp4"}
+{"uid":"118549389629257322","text":"\u003ctask:success:discrete:True\u003e\nplace the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e","video":"1575284342650770458.mp4"}
+{"uid":"18385703081086360666","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen holder 2- Drop pen into stand 3- Drop marker into stand 4- put the marker to the pen holder 5- Drop clip into stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e","video":"15588099113481780289.mp4"}
+{"uid":"5718674431137643497","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder 6- Drop clip into stand 7- Drop note stick into stand 8- Drop paper into stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop paper into stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder 6- Drop clip into stand 7- Drop note stick into stand 8- Drop paper into stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop paper into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"863889703182867859.mp4"}
+{"uid":"1659579228066941631","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange glue in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange glue 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":"392240398088255623.mp4"}
+{"uid":"689511844327621309","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":"12313003258983853059.mp4"}
+{"uid":"7916130687314173050","text":"\u003ctask:success:discrete:True\u003e\nDrop marker into stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop marker into stand\n\u003c/PRED\u003e","video":"16200792890316193262.mp4"}
+{"uid":"13190487802697893115","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop pen into 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: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pen into stand 2- Drop pen into stand 3- Drop marker into stand 4- put the marker to the pen holder 5- Drop clip into stand\n\u003c/PRED\u003e","video":"13088161500698504352.mp4"}
+{"uid":"14137425920681396447","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":"8808113035105629846.mp4"}
+{"uid":"18329991111394479094","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder 6- Drop clip into stand 7- Drop note stick into stand 8- place the sticky note in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the sticky note 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: place the sticky note in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder 6- Drop clip into stand 7- Drop note stick into stand 8- place the sticky note in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6218894026263622397.mp4"}
+{"uid":"15686167725910532911","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: place the sticky note in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder 6- Drop clip into stand 7- Drop note stick into stand Q: immediate next step? \u003cPRED\u003eA: place the sticky note in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the sticky note in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the sticky note 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: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder 6- Drop clip into stand 7- Drop note stick into stand Q: next 5 steps? \u003cPRED\u003eA: 1- place the sticky note in the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the sticky note in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the sticky note 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":"8610474696211657491.mp4"}
+{"uid":"17977551571341498315","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop pen into 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":"8462930289496555139.mp4"}
+{"uid":"16692304422100827530","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder Q: immediate next step? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop pen into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pen into stand 2- Drop marker into stand 3- put the marker to the pen holder 4- Drop clip into stand 5- Drop note stick into stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e","video":"13585719424286423294.mp4"}
+{"uid":"748624396371975018","text":"\u003ctask:success:discrete:False\u003e\nput the marker to the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the marker to the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the marker to the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: put the marker to the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand Q: immediate next step? \u003cPRED\u003eA: put the marker to the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the marker to the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand Q: next 5 steps? \u003cPRED\u003eA: 1- put the marker to the pen holder 2- Drop clip into stand 3- Drop note stick into stand 4- Drop paper into stand 5- done\n\u003c/PRED\u003e","video":"241105004951855688.mp4"}
+{"uid":"18235040587004075078","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstuck 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":"16750897428955832973.mp4"}
+{"uid":"1438660563767579043","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another 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:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the holder 2- Drop marker into stand 3- put the marker to the pen holder 4- Drop clip into stand 5- Drop note stick into stand\n\u003c/PRED\u003e","video":"7912354757089876763.mp4"}
+{"uid":"14965191495667774022","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the bowl 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":"1698640339580242531.mp4"}
+{"uid":"8291358912411373091","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":"11057209218929059385.mp4"}
+{"uid":"17410704575784427030","text":"\u003ctask:success:discrete:False\u003e\nPut the orange marker in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: Put the orange marker in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand Q: immediate next step? \u003cPRED\u003eA: Put the orange marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange marker in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange marker in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange marker in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange marker in the holder 2- Drop clip into stand 3- Drop note stick into stand 4- Drop paper into stand 5- done\n\u003c/PRED\u003e","video":"11195440792822484673.mp4"}
+{"uid":"896038785654245389","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the red pen in the 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:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: Put the red pen in the holder\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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the red pen in the holder 2- Drop pen into stand 3- Drop marker into stand 4- put the marker to the pen holder 5- Drop clip into stand\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: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","video":"17914033969711881211.mp4"}
+{"uid":"4977797655692054244","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":"13106783947950865187.mp4"}
+{"uid":"9542626195484905317","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npickup 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":"7875918473154379205.mp4"}
+{"uid":"4382512859316465086","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5242292991499155719.mp4"}
+{"uid":"9472756954529774300","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop clip into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop clip into 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":"12619085219069300680.mp4"}
+{"uid":"6029832218742152603","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":"9204082087840655167.mp4"}
+{"uid":"1635479418038496230","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:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy 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: please put everything into the caddy. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: none 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","video":"8910822363482701676.mp4"}
+{"uid":"16982739311931507036","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the handle of 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":"7575119914800000958.mp4"}
+{"uid":"16947821815708846608","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nleave 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":"16053285185423993080.mp4"}
+{"uid":"5520609403663190088","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":"5062954299506020773.mp4"}
+{"uid":"18068488498191860982","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen in the pen holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the pen in the pen holder\n\u003c/PRED\u003e","video":"6403528254227993469.mp4"}
+{"uid":"4810345442606547179","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":"13118227102172755460.mp4"}
+{"uid":"13797803509290555354","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop pen into stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Drop pen into stand 2- Drop pen into stand 3- Drop marker into stand 4- put the marker to the pen holder 5- Drop clip into stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop pen into stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop pen into 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":"1149308638869837947.mp4"}
+{"uid":"14150000067369591912","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black blinder paper clip in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black blinder paper clip in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: place the black blinder paper clip in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder Q: immediate next step? \u003cPRED\u003eA: place the black blinder paper clip in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black blinder paper clip in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black blinder paper clip 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: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the black blinder paper clip in the pen holder 2- Drop note stick into stand 3- Drop paper into stand 4- done\n\u003c/PRED\u003e","video":"3133582179757570277.mp4"}
+{"uid":"4720638748933510238","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the marker 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":"3591363218433943706.mp4"}
+{"uid":"4423503803524995455","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the another pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the another 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":"2223835256539202429.mp4"}
+{"uid":"7874702360482537660","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: put the paper clipper in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the paper clipper 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 paper clipper 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 put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the paper clipper in the holder 2- Drop note stick into stand 3- Drop paper into stand 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the paper clipper in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the paper clipper in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder 3- Drop pen into stand 4- Drop marker into stand 5- put the marker to the pen holder Q: immediate next step? \u003cPRED\u003eA: put the paper clipper in the holder\n\u003c/PRED\u003e","video":"15699547922070777603.mp4"}
+{"uid":"13813402667900493041","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the strainer in 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":"12152530419907399765.mp4"}
+{"uid":"6587093631873372817","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: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue pen in the holder 2- Drop marker into stand 3- put the marker to the pen holder 4- Drop clip into stand 5- Drop note stick into stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder 2- put the another pen in the holder Q: immediate next step? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue pen in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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","video":"8763105363483286187.mp4"}
+{"uid":"16523718589529866134","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":"1236546758413369143.mp4"}
+{"uid":"3382578272691518675","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the another pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder Q: immediate next step? \u003cPRED\u003eA: put the another 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 another pen in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put everything into the caddy. last 20 steps: 1- put the pen in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the another pen in the holder 2- Drop pen into stand 3- Drop marker into stand 4- put the marker to the pen holder 5- Drop clip into stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the another pen in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put everything into the caddy Q: immediate next step? \u003cPRED\u003eA: put the another pen in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the another 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":"13961391313788708624.mp4"}
+{"uid":"14068872615268070762","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the cheese balls packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: Drop the cheese balls packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the cheese balls packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight 8- move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the cheese balls packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the cheese balls 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: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight 8- move to the table Q: immediate next step? \u003cPRED\u003eA: Drop the cheese balls packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the cheese balls 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":"5985866496667444569.mp4"}
+{"uid":"6476790759079586709","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: drop the cheese balls packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the cheese balls packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the cheese balls packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the cheese balls 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\ndrop the cheese balls 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: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight 8- move to the table Q: immediate next step? \u003cPRED\u003eA: drop the cheese balls packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight 8- move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the cheese balls packet on the table 2- done\n\u003c/PRED\u003e","video":"1713592347280567543.mp4"}
+{"uid":"10933732280647185883","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. Q: immediate next step? \u003cPRED\u003eA: go straight in a hallway\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. Q: next 5 steps? \u003cPRED\u003eA: 1- go straight in a hallway 2- drop the cheese balls packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go straight in a hallway\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go straight in a hallway\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: go straight in a hallway\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo straight in a 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 in a 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","video":"15992730296060994742.mp4"}
+{"uid":"4071976881092869189","text":"\u003ctask:success:discrete:False\u003e\nexit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room 2- turn to the right 3- go straight 4- move to the table 5- drop the cheese balls packet on the table\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","video":"5822223134861175853.mp4"}
+{"uid":"7842099380669744008","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove towards the top left 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":"13412214896911455610.mp4"}
+{"uid":"15576319984723454449","text":"\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:generative:positive:freeform\u003e\nQ: what action is possible right now? \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:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right Q: next 5 steps? \u003cPRED\u003eA: 1- enter the room. 2- drop the cheese balls packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right Q: immediate next step? \u003cPRED\u003eA: enter the room.\n\u003c/PRED\u003e","video":"2685383398682801693.mp4"}
+{"uid":"4355751339010634878","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick 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":"14734624642492639274.mp4"}
+{"uid":"11999139393404796236","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":"6994253725421550545.mp4"}
+{"uid":"4882692792953926281","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":"10094719622532357641.mp4"}
+{"uid":"17428318619247312778","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drive forward in the hallway\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrive forward 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":"12832931646411570290.mp4"}
+{"uid":"7359221172641915801","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":"697140251800857647.mp4"}
+{"uid":"6563566815223678262","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the left front popcorn packet.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the left front popcorn packet. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the left front popcorn packet. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the left front popcorn packet.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack Q: immediate next step? \u003cPRED\u003eA: pick up the left front popcorn packet.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: pick up the left front popcorn packet.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the left front popcorn packet. 2- exit the room. 3- turn to the right 4- go straight 5- move to the table\n\u003c/PRED\u003e","video":"5578832172694671785.mp4"}
+{"uid":"1427193576165790558","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: Pick up the popcorn packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the popcorn packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the popcorn packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. Q: immediate next step? \u003cPRED\u003eA: Pick up the popcorn packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the popcorn packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the popcorn packet 2- exit the room. 3- turn to the right 4- go straight 5- move to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the popcorn packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1402868174557053281.mp4"}
+{"uid":"11519918023816699193","text":"\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: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. Q: next 5 steps? \u003cPRED\u003eA: 1- move back 2- exit the room. 3- turn to the right 4- go straight 5- move to the table\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: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove back Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e","video":"16114832688000114067.mp4"}
+{"uid":"5170118556978542721","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go closer to the left front popcorn packet in the tray.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack Q: immediate next step? \u003cPRED\u003eA: go closer to the left front popcorn packet in the tray.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo closer to the left front popcorn packet in the tray. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo closer to the left front popcorn packet in the tray. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: go closer to the left front popcorn packet 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 left front popcorn packet in the tray.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- go closer to the left front popcorn packet in the tray. 2- move away from the shelf. 3- exit the room. 4- turn to the right 5- go straight\n\u003c/PRED\u003e","video":"59231150844698136.mp4"}
+{"uid":"18053573439376363280","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the  cheese ball packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove towards the  cheese ball 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":"2281283069893583640.mp4"}
+{"uid":"2726966438590303720","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: go straight\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go straight\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right Q: immediate next step? \u003cPRED\u003eA: go straight\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right Q: next 5 steps? \u003cPRED\u003eA: 1- go straight 2- drop the cheese balls packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go straight\n\u003c/PRED\u003e","video":"9392717173242409617.mp4"}
+{"uid":"29582802969996389","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":"8662535829736704884.mp4"}
+{"uid":"11982028862915057829","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the left front popcorn packet in the tray.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove towards the left front popcorn 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":"4392681292710393000.mp4"}
+{"uid":"278051198251460538","text":"\u003ctask:success:discrete:True\u003e\nGrab the left popcorn packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the left popcorn packet\n\u003c/PRED\u003e","video":"6150528727827550120.mp4"}
+{"uid":"9957455885989836230","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":"12776675883365654447.mp4"}
+{"uid":"887564469696843920","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go straight\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo 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":"14423941649877538768.mp4"}
+{"uid":"14128745099694245474","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: move your arm down\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove 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: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack Q: immediate next step? \u003cPRED\u003eA: move your arm down\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm down\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm down 2- pick up the left front popcorn packet. 3- move away from the shelf. 4- exit the room. 5- turn to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm down\n\u003c/PRED\u003e","video":"518272511665944063.mp4"}
+{"uid":"7237700897872559757","text":"\u003ctask:success:discrete:False\u003e\nMove the popcorn packet  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 the popcorn packet  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: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight Q: immediate next step? \u003cPRED\u003eA: Move the popcorn packet  to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight Q: next 5 steps? \u003cPRED\u003eA: 1- Move the popcorn packet  to the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the popcorn packet  to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: Move the popcorn packet  to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the popcorn packet  to the table\n\u003c/PRED\u003e","video":"12443125490580036571.mp4"}
+{"uid":"16677869405405061305","text":"\u003ctask:success:discrete:True\u003e\nMove to the cheese balls packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the cheese balls packet\n\u003c/PRED\u003e","video":"2834144974314893163.mp4"}
+{"uid":"1315364959498913871","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight 8- drop the popcorn 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: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight 8- drop the popcorn 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: drop the popcorn packet on the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the popcorn packet on the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12999731643490838340.mp4"}
+{"uid":"7252746437772793563","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"17003369676478170390.mp4"}
+{"uid":"9211632604685471485","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go closer to the left front popcorn packet in the tray.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo closer to the left front popcorn 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":"10699417387434879611.mp4"}
+{"uid":"11081290569442761734","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the knife in middle glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2781615920801077415.mp4"}
+{"uid":"3120798568880691552","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight 8- Go to the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight 8- Go to the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6341344236357550493.mp4"}
+{"uid":"13294374059222693755","text":"\u003ctask:success:discrete:False\u003e\nDrive 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. Q: immediate next step? \u003cPRED\u003eA: Drive forward in the hallway\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. Q: next 5 steps? \u003cPRED\u003eA: 1- Drive forward in the hallway 2- move to the table 3- drop the cheese balls packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrive 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drive forward in the hallway\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drive forward in the hallway\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: Drive forward in the hallway\n\u003c/PRED\u003e","video":"14918717563604656457.mp4"}
+{"uid":"15942206565112461731","text":"\u003ctask:success:discrete:True\u003e\nplace packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the basket\n\u003c/PRED\u003e","video":"10161745407058958111.mp4"}
+{"uid":"3937201889680082118","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo outside 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":"14135112095262358755.mp4"}
+{"uid":"12174407845628290334","text":"\u003ctask:success:discrete:False\u003e\nExit the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: Exit the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. Q: next 5 steps? \u003cPRED\u003eA: 1- Exit the room 2- turn to the right 3- go straight 4- move to the table 5- drop the cheese balls packet 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","video":"15413466084814021530.mp4"}
+{"uid":"18303958540367403064","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 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: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room. 2- turn to the right 3- go straight 4- move to the table 5- drop the cheese balls packet 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:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: exit the room.\n\u003c/PRED\u003e","video":"2059462250974304627.mp4"}
+{"uid":"1341939727390852526","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chess piece 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":"12631784000323087082.mp4"}
+{"uid":"13204065939044406363","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. Q: immediate next step? \u003cPRED\u003eA: move out of the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room 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: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: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: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. Q: next 5 steps? \u003cPRED\u003eA: 1- move out of the room 2- turn to the right 3- go straight 4- move to the table 5- drop the cheese balls packet on the table\n\u003c/PRED\u003e","video":"3337465453281498544.mp4"}
+{"uid":"12412313047695524340","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nEnter 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:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: Enter into the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight Q: next 5 steps? \u003cPRED\u003eA: 1- Enter into the room 2- drop the cheese balls packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Enter into the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nEnter 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\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Enter into the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight Q: immediate next step? \u003cPRED\u003eA: Enter into the room\n\u003c/PRED\u003e","video":"16796630511068717591.mp4"}
+{"uid":"17762801597723021903","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":"4482626548393644123.mp4"}
+{"uid":"18011820625141021062","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cups 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":"11512364224851210254.mp4"}
+{"uid":"7632518266177917120","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: pick the  cheese balls packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the  cheese balls 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  cheese balls packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. Q: immediate next step? \u003cPRED\u003eA: pick the  cheese balls packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the  cheese balls packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. Q: next 5 steps? \u003cPRED\u003eA: 1- pick the  cheese balls packet 2- exit the room. 3- turn to the right 4- go straight 5- move to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the  cheese balls 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":"9221496231641141391.mp4"}
+{"uid":"11862922173408241605","text":"\u003ctask:success:discrete:True\u003e\npick the  cheese balls 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  cheese balls packet\n\u003c/PRED\u003e","video":"4662341543549111292.mp4"}
+{"uid":"7794949903402053776","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a popcorn packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- pick a popcorn packet 2- move away from the shelf. 3- exit the room. 4- turn to the right 5- go straight\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a popcorn packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack Q: immediate next step? \u003cPRED\u003eA: pick a popcorn packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a popcorn packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a popcorn packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: pick a popcorn packet\n\u003c/PRED\u003e","video":"2129019130130551463.mp4"}
+{"uid":"8401275577189313349","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":"3750559405678873239.mp4"}
+{"uid":"738441478783474735","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: Pick a cheese balls packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick a cheese balls 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: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. Q: immediate next step? \u003cPRED\u003eA: Pick a cheese balls packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. Q: next 5 steps? \u003cPRED\u003eA: 1- Pick a cheese balls packet 2- exit the room. 3- turn to the right 4- go straight 5- move to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick a cheese balls 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 a cheese balls packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick a cheese balls packet\n\u003c/PRED\u003e","video":"8795234968294975953.mp4"}
+{"uid":"10304484144187214311","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":"12975521778860167879.mp4"}
+{"uid":"2375784473877564949","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a plastic knife 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":"12670717798912287679.mp4"}
+{"uid":"13930271157480578100","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6926838385456038920.mp4"}
+{"uid":"9008540916742323971","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the plastic cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3049238011401864342.mp4"}
+{"uid":"15258337652287542025","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move away from the left bin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove away from the left 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":"7156455863084232217.mp4"}
+{"uid":"14677700879725283124","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cap on 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":"2449654414460699547.mp4"}
+{"uid":"2168879957168896927","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic lid in the right of the transparent tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8512861603348466430.mp4"}
+{"uid":"2838903565063799975","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. Q: next 5 steps? \u003cPRED\u003eA: 1- turn to the right 2- go straight 3- move to the table 4- drop the cheese balls packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. Q: immediate next step? \u003cPRED\u003eA: turn to the right\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\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room 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":"4948760125145006139.mp4"}
+{"uid":"9753900995712554626","text":"\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":"8005778038367505954.mp4"}
+{"uid":"16739430868277606260","text":"\u003ctask:success:discrete:True\u003e\nMove towards 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 towards the shelf\n\u003c/PRED\u003e","video":"6607162540085438458.mp4"}
+{"uid":"15850175265791891222","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the basket\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- place packet in the basket 2- place packet in the basket Q: immediate next step? \u003cPRED\u003eA: place packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the basket\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- place packet in the basket 2- place packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the basket 2- place packet in the basket 3- place packet in the basket 4- place packet in the basket 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: place packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2882612288688982683.mp4"}
+{"uid":"8631767565586382330","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the left front popcorn packet in the tray. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the left front popcorn packet in the tray.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the left front popcorn packet in the tray. 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move towards the left front popcorn packet in the tray.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards the left front popcorn packet in the tray. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: move towards the left front popcorn packet in the tray.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the left front popcorn packet in the tray.\n\u003c/PRED\u003e","video":"1849127293407944264.mp4"}
+{"uid":"4343597101900669630","text":"\u003ctask:success:discrete:False\u003e\nplace 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: place packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: place packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the basket 2- place packet in the basket 3- place packet in the basket 4- place packet in the basket 5- place packet in the basket\n\u003c/PRED\u003e","video":"16919361535720480902.mp4"}
+{"uid":"3988078262566328177","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the cheese balls 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: Move to the cheese balls packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the cheese balls packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: Move to the cheese balls packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the cheese balls packet 2- move away from the shelf. 3- exit the room. 4- turn to the right 5- go straight\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the cheese balls 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: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack Q: immediate next step? \u003cPRED\u003eA: Move to the cheese balls packet\n\u003c/PRED\u003e","video":"18379575965604692001.mp4"}
+{"uid":"10388018122684629644","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the basket\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- place packet in the basket 2- place packet in the basket 3- place packet in the basket 4- place packet in the basket 5- place packet in the basket Q: immediate next step? \u003cPRED\u003eA: place packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the basket\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- place packet in the basket 2- place packet in the basket 3- place packet in the basket 4- place packet in the basket 5- place packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the basket 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: place packet in the basket\n\u003c/PRED\u003e","video":"6082639948332074191.mp4"}
+{"uid":"1283957860270506525","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4253835917066776312.mp4"}
+{"uid":"12785855558999971536","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":"4537372738958451200.mp4"}
+{"uid":"4180950189095795075","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight 8- move to the table 9- release the popcorn 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: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight 8- move to the table 9- release the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nrelease the popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: release the popcorn packet on the table\n\u003c/PRED\u003e","video":"1547546623645447056.mp4"}
+{"uid":"5675333187691062772","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack Q: immediate next step? \u003cPRED\u003eA: Grab the left popcorn packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the left popcorn packet 2- move away from the shelf. 3- exit the room. 4- turn to the right 5- go straight\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the left popcorn packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the left popcorn packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: Grab the left popcorn packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the left popcorn packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the left popcorn packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7245477362049632474.mp4"}
+{"uid":"8513212031739933917","text":"\u003ctask:success:discrete:True\u003e\ngo straight in a 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 in a hallway\n\u003c/PRED\u003e","video":"11901439131251504103.mp4"}
+{"uid":"11559330896153753747","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop brown belt 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":"6662318463597398734.mp4"}
+{"uid":"12625164914336038707","text":"\u003ctask:success:discrete:False\u003e\nmove towards the  cheese ball 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: move towards the  cheese ball packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the  cheese ball packet 2- move away from the shelf. 3- exit the room. 4- turn to the right 5- go straight\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the  cheese ball packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack Q: immediate next step? \u003cPRED\u003eA: move towards the  cheese ball packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: move towards the  cheese ball packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the  cheese ball 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":"1781212596475355216.mp4"}
+{"uid":"3576024774340607950","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange a 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":"2259387690629298243.mp4"}
+{"uid":"15113630544648399325","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move out of the room\n\u003c/PRED\u003e\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","video":"6023242394927880840.mp4"}
+{"uid":"2163029923008437712","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the basket\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- place packet in the basket Q: immediate next step? \u003cPRED\u003eA: place packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: place packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the basket\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- place packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the basket 2- place packet in the basket 3- place packet in the basket 4- place packet in the basket 5- place packet in the basket\n\u003c/PRED\u003e","video":"14746888290023779841.mp4"}
+{"uid":"7800072765742117674","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move away from the left bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the left bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the left bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the left 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: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the left bin 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: move away from the left bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the left 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":"10746464682076011393.mp4"}
+{"uid":"1130617910314511865","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place packet in the basket 2- place packet in the basket 3- place packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the basket 2- place packet in the basket 3- place packet in the basket 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: place packet in the basket\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- place packet in the basket 2- place packet in the basket 3- place packet in the basket Q: immediate next step? \u003cPRED\u003eA: place packet in the basket\n\u003c/PRED\u003e","video":"6725872626072152751.mp4"}
+{"uid":"18013237605767195905","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the popcorn packet in the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the popcorn 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: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: Move to the popcorn packet in the rack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move to the popcorn packet in the rack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the popcorn 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: Move to the popcorn packet in the rack\n\u003c/PRED\u003e","video":"7819787900635963728.mp4"}
+{"uid":"15962866716414617124","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the left front popcorn packet.\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the left front popcorn packet. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2544522223529880456.mp4"}
+{"uid":"202618762205085185","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nKeep the glass 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":"5003192952203482260.mp4"}
+{"uid":"2918755750804366617","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the top right pen on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15372670614475736376.mp4"}
+{"uid":"3127355218521661051","text":"\u003ctask:success:discrete:True\u003e\nDrop the cheese balls 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: Drop the cheese balls packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight 8- move to the table 9- Drop the cheese balls packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight 8- move to the table 9- Drop the cheese balls packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"7591665099815575095.mp4"}
+{"uid":"8549401966766898958","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the candy in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13104721842358460057.mp4"}
+{"uid":"17714104718375538410","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight Q: immediate next step? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: Go to the table\n\u003c/PRED\u003e","video":"11239948237958715766.mp4"}
+{"uid":"9499644483732206614","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1806339652712655162.mp4"}
+{"uid":"9277903417411772459","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the blue 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":"5098841107654074694.mp4"}
+{"uid":"5016455165679652277","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":"14856695579897640583.mp4"}
+{"uid":"3514613820404895437","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack 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":"17471917217217130176.mp4"}
+{"uid":"5718603408413039179","text":"\u003ctask:success:discrete:True\u003e\npick a popcorn packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick a popcorn packet\n\u003c/PRED\u003e","video":"8415918349427888339.mp4"}
+{"uid":"5967343551714824654","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":"11875485427603219269.mp4"}
+{"uid":"15905115576652104836","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right Q: next 5 steps? \u003cPRED\u003eA: 1- move to the table 2- drop the cheese balls packet on the table 3- done\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:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room 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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right Q: immediate next step? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e","video":"2796300654941998622.mp4"}
+{"uid":"2729184633206308621","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":"308168355430204735.mp4"}
+{"uid":"17210685342407529222","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move close to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight 8- move close to the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight 8- move close to the table Q: immediate next step? \u003cPRED\u003eA: done\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\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"4206278366613743789.mp4"}
+{"uid":"4709714368827380275","text":"\u003ctask:success:discrete:True\u003e\nmove to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e","video":"11822007366315373292.mp4"}
+{"uid":"120519251227716035","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards 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: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: Move towards the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards 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: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move towards the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the shelf 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the shelf\n\u003c/PRED\u003e","video":"3443502919909207847.mp4"}
+{"uid":"6817305648845856455","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight Q: immediate next step? \u003cPRED\u003eA: enter into the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nenter 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight Q: next 5 steps? \u003cPRED\u003eA: 1- enter into the room 2- drop the cheese balls packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nenter 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\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: enter into the room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: enter into the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter into the room\n\u003c/PRED\u003e","video":"6094324284087342380.mp4"}
+{"uid":"5006574938523305053","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to 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":"12269693917968258651.mp4"}
+{"uid":"5832473293418678500","text":"\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\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight 8- move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- move back 2- done\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight 8- move to the table Q: immediate next step? \u003cPRED\u003eA: move back\n\u003c/PRED\u003e","video":"6145155704399823410.mp4"}
+{"uid":"16124204497629720085","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npour the popcorn 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":"11613559873968898459.mp4"}
+{"uid":"5484748191974085328","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the popcorn packet in the rack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the popcorn 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":"12516935446393931520.mp4"}
+{"uid":"6568935519500354928","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from 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: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: move away from the shelf.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the shelf.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move away from the shelf.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the shelf. 2- turn to the right 3- go straight 4- move to the table 5- drop the cheese balls packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. Q: immediate next step? \u003cPRED\u003eA: move away from the shelf.\n\u003c/PRED\u003e","video":"7814670638603184667.mp4"}
+{"uid":"5286172316183273279","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm close to the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm 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 your arm close to the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the shelf 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: move your arm close to the shelf\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm 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: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move your arm close to the shelf\n\u003c/PRED\u003e","video":"7194989415399680680.mp4"}
+{"uid":"7006944326757238813","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight Q: next 5 steps? \u003cPRED\u003eA: 1- go to the table. 2- drop the cheese balls packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go to the table.\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go to the table.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight Q: immediate next step? \u003cPRED\u003eA: go to the table.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: go to the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo to the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo to the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"428951964233251416.mp4"}
+{"uid":"13822870543901719811","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput glass on the tray of water purifier Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"49399556796207591.mp4"}
+{"uid":"10065865455833337681","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":"17210737288375944436.mp4"}
+{"uid":"13735693633049207902","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 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:affordance:discriminative:discrete:True\u003e\nMove out of the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. Q: next 5 steps? \u003cPRED\u003eA: 1- Move out of the room 2- turn to the right 3- go straight 4- move to the table 5- drop the cheese balls packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room 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","video":"14478540518598773237.mp4"}
+{"uid":"17155342445582720756","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":"608160886176241578.mp4"}
+{"uid":"9878002780543090406","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight 8- move to the table 9- drop the cheese balls packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the cheese balls packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight 8- move to the table 9- drop the cheese balls 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: drop the cheese balls packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11475761232343149062.mp4"}
+{"uid":"16488313194565314774","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move away from the left trash bin. 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move away from the left trash bin.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: move away from the left trash bin.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove away from the left 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: move away from the left trash bin.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove away from the left trash bin. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move away from the left trash bin.\n\u003c/PRED\u003e","video":"8831463358115069755.mp4"}
+{"uid":"11295198457523843180","text":"\u003ctask:success:discrete:True\u003e\nplace packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the basket\n\u003c/PRED\u003e","video":"12789559263801814527.mp4"}
+{"uid":"16660433226482047867","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic knife 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":"4447105359895517903.mp4"}
+{"uid":"3223819750084711967","text":"\u003ctask:success:discrete:True\u003e\nmove away from the left 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: move away from the left trash bin.\n\u003c/PRED\u003e","video":"12595510368351538262.mp4"}
+{"uid":"15972423222478514054","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":"2768293648989590176.mp4"}
+{"uid":"10949306725690368302","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: release the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight 8- move to the table Q: immediate next step? \u003cPRED\u003eA: release the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease the popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: release the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nrelease the popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight 8- move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- release the popcorn 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: release the popcorn packet on the table\n\u003c/PRED\u003e","video":"782673655422584503.mp4"}
+{"uid":"4983610260703988866","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the popcorn packet on the table.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the popcorn packet on the table. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight Q: next 5 steps? \u003cPRED\u003eA: 1- drop the popcorn packet on the table. 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight Q: immediate next step? \u003cPRED\u003eA: drop the popcorn packet on the table.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room Q: immediate next step? \u003cPRED\u003eA: drop the popcorn packet on the table.\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the popcorn packet on the table. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the popcorn packet on the table.\n\u003c/PRED\u003e","video":"12829682115704629124.mp4"}
+{"uid":"10148757873445173494","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the right  column of the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5748223678618323079.mp4"}
+{"uid":"11011730491113124205","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":"5595636451108637684.mp4"}
+{"uid":"7191591235743007088","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm close to the shelf\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove your arm 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","video":"2279676452940065624.mp4"}
+{"uid":"17436979018531940713","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":"2271484202808376088.mp4"}
+{"uid":"2116762139034399068","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place packet in the basket 2- place packet in the basket 3- place packet in the basket 4- place packet in the basket Q: immediate next step? \u003cPRED\u003eA: place packet in the basket\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- place packet in the basket 2- place packet in the basket 3- place packet in the basket 4- place packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the basket 2- place packet in the basket 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: place packet in the basket\n\u003c/PRED\u003e","video":"6297446277492157114.mp4"}
+{"uid":"10664369089391980123","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush the trolley towards the wall Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17877215108346987787.mp4"}
+{"uid":"14399781213625943657","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":"238231453433858588.mp4"}
+{"uid":"8097304636617537604","text":"\u003ctask:success:discrete:True\u003e\nPick a cheese balls 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 a cheese balls packet\n\u003c/PRED\u003e","video":"7811429536661016172.mp4"}
+{"uid":"10720866262314371088","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":"13729959752153774072.mp4"}
+{"uid":"5386806470761802508","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place packet in the basket 2- place packet in the basket 3- place packet in the basket 4- place packet in the basket 5- place packet in the basket 6- place packet in the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- place packet in the basket 2- place packet in the basket 3- place packet in the basket 4- place packet in the basket 5- place packet in the basket 6- place packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10405091369840154179.mp4"}
+{"uid":"1595077206178189199","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":"11419476430276528150.mp4"}
+{"uid":"17929451400592724651","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10332274939163859565.mp4"}
+{"uid":"2923464988132945985","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop a pista in 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":"14954722893406839303.mp4"}
+{"uid":"17833512738248056936","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":"9965363939508072574.mp4"}
+{"uid":"3771395291766272336","text":"\u003ctask:success:discrete:True\u003e\nplace packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the basket\n\u003c/PRED\u003e","video":"9801738384121485435.mp4"}
+{"uid":"17244427574448910219","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: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:planning:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: ooh, i'm hungry and would like a snack, please bring me a bag of pipcorn cheese balls to the denali conference room. last 20 steps: 1- Move to the popcorn packet in the rack 2- go closer to the left front popcorn packet in the tray. 3- pick up the left front popcorn packet. 4- move away from the shelf. 5- exit the room. 6- turn to the right 7- go straight Q: immediate next step? \u003cPRED\u003eA: move close to the table\n\u003c/PRED\u003e","video":"1512557072437208923.mp4"}
+{"uid":"17426071516633239154","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue pens 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":"8098885621017893464.mp4"}
+{"uid":"15710611179661349122","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the  white packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4284436756475322337.mp4"}
+{"uid":"5296362892082112403","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace an 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":"14221957785319244022.mp4"}
+{"uid":"13983368841196696276","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket 6- place the packet into the basket 7- Place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket 6- place the packet into the basket 7- Place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet into the basket 2- Place the packet into the tray 3- Place the packet into the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e","video":"15019517282788004493.mp4"}
+{"uid":"11008562462832683085","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9801956294975687837.mp4"}
+{"uid":"11132227191385854467","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet into the basket 2- Place the packet into the tray 3- place the packet into the basket 4- place the packet into the basket 5- Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17220954425389457818.mp4"}
+{"uid":"9561207195846977418","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet into the basket 2- place the packet into the basket 3- Place the packet into the tray 4- put the packet in the basket 5- Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e","video":"6363392850917813677.mp4"}
+{"uid":"17815578488200117003","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket 6- place the packet into the basket 7- Place the packet into the tray 8- put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet into the tray 2- Place the packet into the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket 6- place the packet into the basket 7- Place the packet into the tray 8- put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e","video":"821472027131596248.mp4"}
+{"uid":"15814042999725975388","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet into the tray 2- Place the packet into the tray 3- place the packet into the basket 4- place the packet into the basket 5- Place the packet into the tray\n\u003c/PRED\u003e","video":"12032175981886162006.mp4"}
+{"uid":"17123169839880307540","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"452919488543047249.mp4"}
+{"uid":"5411878464960784635","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the forks in the forks holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13693401239798659698.mp4"}
+{"uid":"11612956907865879053","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":"9472025454108257470.mp4"}
+{"uid":"6400461398074021366","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket 6- place the packet into the basket Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket 6- place the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet into the tray 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e","video":"17253319301469794333.mp4"}
+{"uid":"17483931412035541740","text":"\u003ctask:success:discrete:False\u003e\nPlace the packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet into the tray 2- place the packet into the basket 3- Place the packet into the tray 4- put the packet in the basket 5- Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e","video":"7559252824006772640.mp4"}
+{"uid":"13106293958574079497","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet into the tray 2- Place the packet into the tray 3- Place the packet into the tray 4- place the packet into the basket 5- place the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e","video":"7923184116723351877.mp4"}
+{"uid":"16435391674066661384","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red packet on counter from tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7249165570184811292.mp4"}
+{"uid":"12213796351481839321","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace packet into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6607250322772794459.mp4"}
+{"uid":"13189455621656137357","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket 6- place the packet into the basket 7- Place the packet into the tray 8- put the packet in the basket 9- Place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket 6- place the packet into the basket 7- Place the packet into the tray 8- put the packet in the basket 9- Place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet into the tray 2- done\n\u003c/PRED\u003e","video":"9783337850606139558.mp4"}
+{"uid":"4281418108076420764","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet into the basket 2- place the packet into the basket 3- place the packet into the basket 4- Place the packet into the tray 5- put the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e","video":"8928377343264309408.mp4"}
+{"uid":"8684975099178593088","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the scrubber into box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4165887900183229036.mp4"}
+{"uid":"15270157635045940977","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":"2734365376184564876.mp4"}
+{"uid":"3107383589936307473","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"8731016311478782628.mp4"}
+{"uid":"17734832288108746191","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":"11502311373994912282.mp4"}
+{"uid":"15867159888267912301","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket 6- place the packet into the basket Q: immediate next step? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket 6- place the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet into the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- done\n\u003c/PRED\u003e","video":"6141287759620580289.mp4"}
+{"uid":"8325180278074608863","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":"9413865089494955664.mp4"}
+{"uid":"14682563295349089459","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14097612963229474316.mp4"}
+{"uid":"17278030423064424556","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":"10572769600863943224.mp4"}
+{"uid":"6116461810716434653","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket 6- place the packet into the basket 7- Place the packet into the tray 8- put the packet in the basket 9- Place the packet into the tray 10- Place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket 6- place the packet into the basket 7- Place the packet into the tray 8- put the packet in the basket 9- Place the packet into the tray 10- Place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1204773150582289064.mp4"}
+{"uid":"6570868786004524002","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pens 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\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the brown paper cup from 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":"12489531011629420196.mp4"}
+{"uid":"2014931628323620708","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":"3182024559784496499.mp4"}
+{"uid":"9819474822596102957","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket\n\u003c/PRED\u003e","video":"15056027220686860348.mp4"}
+{"uid":"3906806178139069746","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the basket 2- Place the packet into the tray 3- put the packet in the basket 4- Place the packet into the tray 5- Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"239667540924639407.mp4"}
+{"uid":"4518465437766727382","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet into the tray 2- place the packet into the basket 3- place the packet into the basket 4- Place the packet into the tray 5- put the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e","video":"2972957831854299981.mp4"}
+{"uid":"6888929374911197211","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet into the tray 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the packet into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e","video":"7552912620868400899.mp4"}
+{"uid":"4756530840444197904","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"18231220048607714297.mp4"}
+{"uid":"6679327555876704107","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop candy into box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10001569046019965628.mp4"}
+{"uid":"2115021611018463478","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket 6- place the packet into the basket 7- Place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket 6- place the packet into the basket 7- Place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket 6- place the packet into the basket 7- Place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the basket 2- Place the packet into the tray 3- Place the packet into the tray 4- done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket 6- place the packet into the basket 7- Place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet into the tray 2- Place the packet into the tray 3- Place the packet into the tray 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e","video":"6918595951469057601.mp4"}
+{"uid":"10387077792543220724","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket Q: immediate next step? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet into the basket 2- Place the packet into the tray 3- put the packet in the basket 4- Place the packet into the tray 5- Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e","video":"5460251313792049225.mp4"}
+{"uid":"6561199635948944010","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":"12865027714362571248.mp4"}
+{"uid":"6765363649970991856","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14765533673690024039.mp4"}
+{"uid":"3523339239447956338","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket 6- place the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket 6- place the packet into the basket Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e","video":"12755443959768738037.mp4"}
+{"uid":"17694152651091616504","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput  packets in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6687756188088202920.mp4"}
+{"uid":"15115162462045610270","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":"11802946938341099527.mp4"}
+{"uid":"10735246630356201894","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the book 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":"13346738274066313418.mp4"}
+{"uid":"1074108852788856573","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3527876273565764141.mp4"}
+{"uid":"2297387483103700114","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the basket 2- place the packet into the basket 3- place the packet into the basket 4- Place the packet into the tray 5- put the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1716052046962404072.mp4"}
+{"uid":"15023863215502242003","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chess pieces 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":"9306083566390293002.mp4"}
+{"uid":"8484774085139258106","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3971125262603921846.mp4"}
+{"uid":"2627266681469699488","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the basket 2- Place the packet into the tray 3- place the packet into the basket 4- place the packet into the basket 5- Place the packet into 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 basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15656296782224416922.mp4"}
+{"uid":"3177276010181749162","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the packet into the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet into the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e","video":"2127779346158780376.mp4"}
+{"uid":"11301729941099001612","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the basket 2- Place the packet into the tray 3- Place the packet into the tray 4- place the packet into the basket 5- place the packet into the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e","video":"5486477019134733470.mp4"}
+{"uid":"17174214189430817323","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick 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":"12919216047040517548.mp4"}
+{"uid":"1781825132003174526","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the packet into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket 2- put the packet in the basket 3- Place the packet into the tray 4- Place the packet into the tray 5- place the packet into the basket Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet into the tray 2- Place the packet into the tray 3- put the packet in the basket 4- Place the packet into the tray 5- Place the packet into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet into the tray\n\u003c/PRED\u003e","video":"8585711853874926791.mp4"}
+{"uid":"10244114608936570786","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7951474502870418883.mp4"}
+{"uid":"15805794626357232258","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. last 20 steps: 1- put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- place the packet into the basket 2- Place the packet into the tray 3- Place the packet into the tray 4- place the packet into the basket 5- place the packet into the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place oatmeal packets into the basket. Q: immediate next step? \u003cPRED\u003eA: place the packet into the basket\n\u003c/PRED\u003e","video":"17725605998045167419.mp4"}
+{"uid":"7054542238288876030","text":"\u003ctask:success:discrete:True\u003e\nGo to the kitchen 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to the kitchen counter\n\u003c/PRED\u003e","video":"3539210959250312697.mp4"}
+{"uid":"13469159902581596433","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":"6464890516340603221.mp4"}
+{"uid":"13393841572722459009","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the shapes into the correct slot Q: immediate next step? \u003cPRED\u003eA: place the block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the shapes into the correct slot. last 20 steps: 1- place the block in the box Q: immediate next step? \u003cPRED\u003eA: place the block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the block in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the shapes into the correct slot. last 20 steps: 1- place the block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the block in the box 2- place the block in the box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the block 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":"226780789693552450.mp4"}
+{"uid":"1273876355864263146","text":"\u003ctask:success:discrete:False\u003e\nput apple 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:discriminative:discrete:True\u003e\nput apple in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray Q: immediate next step? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in tray 2- place fruit into the tray 3- place fruit into the tray 4- place fruit into the tray 5- drop the apple into tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e","video":"11809866285579812772.mp4"}
+{"uid":"5044546322434072933","text":"\u003ctask:success:discrete:True\u003e\nput the tissue on the banana Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the tissue on the banana\n\u003c/PRED\u003e","video":"11248391098636938838.mp4"}
+{"uid":"14575159387034272750","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. last 20 steps: 1- Go to the kitchen counter Q: next 5 steps? \u003cPRED\u003eA: 1- Take out the tissue paper from the box 2- Pick up the banana 3- Put the banana on the white table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. last 20 steps: 1- Go to the kitchen counter Q: immediate next step? \u003cPRED\u003eA: Take out the tissue paper from the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take out the tissue paper from the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take out the tissue paper from the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake out the tissue paper from 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\nTake out the tissue paper from 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: get a napkin and banana from the microkitchen and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: Take out the tissue paper from the box\n\u003c/PRED\u003e","video":"11038603869451164798.mp4"}
+{"uid":"10194679268429756878","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the 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":"13935228400434553422.mp4"}
+{"uid":"14482021919348948954","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the banana\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. last 20 steps: 1- Go to the kitchen counter 2- Take out the tissue paper from the box 3- Put the tissue on the banana Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the banana 2- Put the banana on the white table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. last 20 steps: 1- Go to the kitchen counter 2- Take out the tissue paper from the box 3- Put the tissue on the banana 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: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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the banana\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: Pick up the banana\n\u003c/PRED\u003e","video":"6912856107412059478.mp4"}
+{"uid":"2933037834545769677","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray 5- place fruit into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace fruit into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace fruit into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e","video":"8167824116318329931.mp4"}
+{"uid":"8050084754343574781","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into tray 2- place fruit into the tray 3- place fruit into the tray 4- place fruit into the tray 5- drop the apple into tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray Q: immediate next step? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the apple into tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 apples into the crate Q: immediate next step? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e","video":"7543233765903320649.mp4"}
+{"uid":"8467210388741215506","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":"13462688079720662977.mp4"}
+{"uid":"8925377971072371376","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow  packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10064006920528051248.mp4"}
+{"uid":"7643439675380873854","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":"11242752495669038726.mp4"}
+{"uid":"3803597975694869392","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: Go to the kitchen counter\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the kitchen counter\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the kitchen 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Go to the kitchen counter\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the kitchen counter\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the kitchen counter 2- Take out the tissue paper from the box 3- Put the tissue on the banana 4- Pick up the banana 5- Put the banana on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the kitchen 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","video":"17573677437344103783.mp4"}
+{"uid":"16028595734570064813","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red candy in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17917222279259358657.mp4"}
+{"uid":"13500108322392604571","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the block 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":"9612478496263361098.mp4"}
+{"uid":"13807839256778853484","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet in the trolley 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":"11527439650159258662.mp4"}
+{"uid":"17579702217322679719","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":"2537017433283635662.mp4"}
+{"uid":"12446578770613755036","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the glass in 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":"15440598302184388134.mp4"}
+{"uid":"16334016347224916829","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16975221485244312904.mp4"}
+{"uid":"8160626981692010756","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tissue on the banana\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the tissue on 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","video":"4919569537775373202.mp4"}
+{"uid":"6147507812597397427","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":"2798540343809554860.mp4"}
+{"uid":"14682184041714207487","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":"5142872331131151828.mp4"}
+{"uid":"7583352330631629668","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp the left black 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":"1737753710005886617.mp4"}
+{"uid":"8495856657874081121","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":"16031717864965897182.mp4"}
+{"uid":"16220252332209759329","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray 5- place fruit into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place fruit into the tray 2- place fruit into the tray 3- drop the apple into tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace fruit into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray 5- place fruit into the tray Q: immediate next step? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace fruit into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4549285418011381344.mp4"}
+{"uid":"4047118833980319235","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":"10352484664405914291.mp4"}
+{"uid":"7908276744553070359","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray 5- place fruit into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in tray 2- place fruit into the tray 3- drop the apple into tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple 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 apple in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray 5- place fruit into the tray Q: immediate next step? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e","video":"16234917598966575430.mp4"}
+{"uid":"16030282197311709100","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":"8340638484382241644.mp4"}
+{"uid":"3200145276242337784","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the shapes into the correct slot Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the shapes into the correct slot. last 20 steps: 1- place the block in the box 2- place the block in the box 3- place the block 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: please put the shapes into the correct slot. last 20 steps: 1- place the block in the box 2- place the block in the box 3- place the block 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 block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the block 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":"6623741325968715192.mp4"}
+{"uid":"12893271451554629161","text":"\u003ctask:success:discrete:True\u003e\nMove towards the platform Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 platform\n\u003c/PRED\u003e","video":"9869370856282017858.mp4"}
+{"uid":"10959040461249358121","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the platform\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the platform 2- Take out the tissue paper from the box 3- Put the tissue on the banana 4- Pick up the banana 5- Put the banana on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the platform Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 a napkin and banana from the microkitchen and bring it to the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move towards the platform\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: Move towards the platform\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the platform\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the platform Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"761985585689206627.mp4"}
+{"uid":"2500591771031169557","text":"\u003ctask:success:discrete:False\u003e\nPut the tissue on 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tissue on the banana\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tissue on 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tissue on the banana\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. last 20 steps: 1- Go to the kitchen counter Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tissue on the banana 2- Put the tissue on the banana 3- Pick up the banana 4- Put the banana on the white table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: Put the tissue on the banana\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. last 20 steps: 1- Go to the kitchen counter Q: immediate next step? \u003cPRED\u003eA: Put the tissue on the banana\n\u003c/PRED\u003e","video":"11392829102293658347.mp4"}
+{"uid":"16935264230982964549","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cup on dustbin table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"163800762910261.mp4"}
+{"uid":"17204446770683303904","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple 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: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in tray 2- drop the apple into tray 3- place fruit into the tray 4- place fruit into the tray 5- place fruit into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray Q: immediate next step? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e","video":"16954526966334356787.mp4"}
+{"uid":"91381233009856107","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple 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 apple in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple 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: put the apples into the crate. last 20 steps: 1- place fruit into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in tray 2- place fruit into the tray 3- drop the apple into tray 4- place fruit into the tray 5- place fruit into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray Q: immediate next step? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e","video":"14386372948178567600.mp4"}
+{"uid":"17958178355796552539","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13156733785209535602.mp4"}
+{"uid":"5314067314421453203","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the shapes into the correct slot Q: immediate next step? \u003cPRED\u003eA: place the block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the shapes into the correct slot. last 20 steps: 1- place the block in the box 2- place the block in the box Q: immediate next step? \u003cPRED\u003eA: place the block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the block 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 block 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 block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the shapes into the correct slot. last 20 steps: 1- place the block in the box 2- place the block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the block in the box 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the block in the box\n\u003c/PRED\u003e","video":"16315098002605733888.mp4"}
+{"uid":"11870401192007291386","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the refrigerator 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":"14836834993768932869.mp4"}
+{"uid":"11495725972520744237","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the tissue paper on 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. last 20 steps: 1- Go to the kitchen counter 2- Take out the tissue paper from the box Q: immediate next step? \u003cPRED\u003eA: Place the tissue paper on the banana\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the tissue paper on the banana\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the tissue paper on 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. last 20 steps: 1- Go to the kitchen counter 2- Take out the tissue paper from the box Q: next 5 steps? \u003cPRED\u003eA: 1- Place the tissue paper on the banana 2- Pick up the banana 3- Put the banana on the white table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: Place the tissue paper on the banana\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 banana\n\u003c/PRED\u003e","video":"2009593575088542745.mp4"}
+{"uid":"11799817442165919285","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray Q: immediate next step? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the apple into tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12380496096118697381.mp4"}
+{"uid":"12534836476361904379","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray 5- place fruit into the tray 6- place fruit into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in tray 2- drop the apple into tray 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray 5- place fruit into the tray 6- place fruit into the tray Q: immediate next step? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e","video":"10290106463050108595.mp4"}
+{"uid":"9030215405393918729","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the bowl to 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":"2218597306526432077.mp4"}
+{"uid":"13245355853234753251","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace fruit into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7676026440597262624.mp4"}
+{"uid":"15002832869195562394","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":"11162596548941665569.mp4"}
+{"uid":"5562419739798468722","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray Q: immediate next step? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple 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: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple 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":"6411607549315388938.mp4"}
+{"uid":"1138094602667972118","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray Q: immediate next step? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into tray 2- place fruit into the tray 3- drop the apple into tray 4- place fruit into the tray 5- place fruit into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the apple into tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11424337885936532588.mp4"}
+{"uid":"211434139844165554","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a plastic knife in right 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":"6423424108614156373.mp4"}
+{"uid":"16854349666584313513","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray Q: next 5 steps? \u003cPRED\u003eA: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace fruit into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace fruit into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray Q: immediate next step? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e","video":"13831072599142702753.mp4"}
+{"uid":"18412138124928422308","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray Q: immediate next step? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace fruit into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place fruit into the tray 2- place fruit into the tray 3- drop the apple into tray 4- place fruit into the tray 5- place fruit into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace fruit into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e","video":"16496730674177307922.mp4"}
+{"uid":"12846124470635040361","text":"\u003ctask:success:discrete:True\u003e\ndrop the apple into tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e","video":"10300775388485179005.mp4"}
+{"uid":"8079233637233865394","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray 5- place fruit into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the apple into tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 apples into the crate. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e","video":"5522322061073791280.mp4"}
+{"uid":"3648643946676327903","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput apple 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":"16210416382171579743.mp4"}
+{"uid":"12617304217848669204","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the banana on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the banana on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. last 20 steps: 1- Go to the kitchen counter 2- Take out the tissue paper from the box 3- Put the tissue on the banana 4- Pick up the banana 5- Put the banana on the white table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. last 20 steps: 1- Go to the kitchen counter 2- Take out the tissue paper from the box 3- Put the tissue on the banana 4- Pick up the banana 5- Put the banana on the white table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3393476356493229449.mp4"}
+{"uid":"7753984030302335193","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. last 20 steps: 1- Go to the kitchen counter Q: next 5 steps? \u003cPRED\u003eA: 1- put the tissue on the banana 2- Pick up the banana 3- Put the banana on the white table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the tissue on 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the tissue on the banana\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the tissue on the banana\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the tissue on 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: get a napkin and banana from the microkitchen and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: put the tissue on the banana\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. last 20 steps: 1- Go to the kitchen counter Q: immediate next step? \u003cPRED\u003eA: put the tissue on the banana\n\u003c/PRED\u003e","video":"4537048859370917853.mp4"}
+{"uid":"8053746007907974612","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray 5- place fruit into the tray 6- place fruit into the tray 7- place fruit into the tray Q: immediate next step? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray 5- place fruit into the tray 6- place fruit into the tray 7- place fruit into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place fruit into the tray 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace fruit into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e","video":"7811868449043087882.mp4"}
+{"uid":"4028333577508629860","text":"\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\u003ctask:planning:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: Put the banana on the table\n\u003c/PRED\u003e\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: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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. last 20 steps: 1- Go to the kitchen counter 2- Take out the tissue paper from the box 3- Put the tissue on the banana 4- Pick up the banana Q: immediate next step? \u003cPRED\u003eA: Put the banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. last 20 steps: 1- Go to the kitchen counter 2- Take out the tissue paper from the box 3- Put the tissue on the banana 4- Pick up the banana Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana on the table 2- done\n\u003c/PRED\u003e","video":"12110105603520194771.mp4"}
+{"uid":"5876609770713315058","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":"2429103062525402158.mp4"}
+{"uid":"11327272786736889211","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6193417668090218757.mp4"}
+{"uid":"14598306435119877238","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":"13169208429015278515.mp4"}
+{"uid":"4121749778812668810","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace fruit into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- place fruit into the tray 5- drop the apple into tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace fruit into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray Q: immediate next step? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e","video":"9152429151179708431.mp4"}
+{"uid":"16468967039562729026","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana on the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the banana on the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. last 20 steps: 1- Go to the kitchen counter 2- Take out the tissue paper from the box 3- Put the tissue on the banana 4- Pick up the banana Q: immediate next step? \u003cPRED\u003eA: Put the banana on the white table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. last 20 steps: 1- Go to the kitchen counter 2- Take out the tissue paper from the box 3- Put the tissue on the banana 4- Pick up the banana Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana on the white 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 white table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: Put the banana on the white table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2766233884696552471.mp4"}
+{"uid":"7233179996318417860","text":"\u003ctask:success:discrete:True\u003e\nplace the block 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 block in the box\n\u003c/PRED\u003e","video":"12300584279079017700.mp4"}
+{"uid":"16244097631909156402","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray 5- place fruit into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into tray 2- place fruit into the tray 3- drop the apple into tray 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the apple into 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 the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray 5- place fruit into the tray Q: immediate next step? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 tray\n\u003c/PRED\u003e","video":"14607570471759983039.mp4"}
+{"uid":"917330369426236222","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPickup papers from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"654952378781544004.mp4"}
+{"uid":"16640172824855587120","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: Pick up the banana\n\u003c/PRED\u003e\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. last 20 steps: 1- Go to the kitchen counter 2- Take out the tissue paper from the box 3- Put the tissue on the banana 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. last 20 steps: 1- Go to the kitchen counter 2- Take out the tissue paper from the box 3- Put the tissue on the banana Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the banana 2- Put the banana on the white table 3- done\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","video":"10872348554817314155.mp4"}
+{"uid":"9587841174938167845","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":"8430552429065355074.mp4"}
+{"uid":"3339133213694227359","text":"\u003ctask:success:discrete:True\u003e\nTake out the tissue paper from 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: Take out the tissue paper from the box\n\u003c/PRED\u003e","video":"13761802733937804409.mp4"}
+{"uid":"5204391497774304474","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":"18193758517297886886.mp4"}
+{"uid":"13359953022449829539","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray 5- place fruit into the tray 6- place fruit into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into tray 2- drop the apple into tray 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray 5- place fruit into the tray 6- place fruit into the tray Q: immediate next step? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the apple into 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":"14109584957833724284.mp4"}
+{"uid":"2388548444584510991","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":"17065730036036496507.mp4"}
+{"uid":"3865158309141350292","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep packet in 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":"10468820470134385520.mp4"}
+{"uid":"3977678560958473440","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the strainer into 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":"8741171651967440285.mp4"}
+{"uid":"10277799986676193750","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray 5- place fruit into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput apple in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e","video":"15445463403311986830.mp4"}
+{"uid":"17331701788864990916","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1316300121062479897.mp4"}
+{"uid":"11375137250923033942","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the block 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: please put the shapes into the correct slot. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the block in the box 2- place the block in the box 3- place the block in the box 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the shapes into the correct slot Q: immediate next step? \u003cPRED\u003eA: place the block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the shapes into the correct slot. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the block 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":"1116906046593297603.mp4"}
+{"uid":"12750735031055704529","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":"2548349243480762363.mp4"}
+{"uid":"6301682669521889868","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray 5- place fruit into the tray 6- place fruit into the tray Q: immediate next step? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace fruit into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace fruit into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray 5- place fruit into the tray 6- place fruit into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place fruit into the tray 2- done\n\u003c/PRED\u003e","video":"15601949624676273893.mp4"}
+{"uid":"1924452141581413723","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput coffee cup lid 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":"14904191475828360988.mp4"}
+{"uid":"3499794958791206105","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":"2028298537093100209.mp4"}
+{"uid":"12219947960657858964","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":"9172858970887554202.mp4"}
+{"uid":"9913137670259597970","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":"15823594514823006268.mp4"}
+{"uid":"10546175527812054427","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":"9502731739684225574.mp4"}
+{"uid":"10442226260852265075","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. last 20 steps: 1- Go to the kitchen counter Q: immediate next step? \u003cPRED\u003eA: Put the tissue on the banana\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the tissue on 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the tissue on the banana\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the tissue on 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:planning:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. Q: immediate next step? \u003cPRED\u003eA: Put the tissue on the banana\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the tissue on the banana\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: get a napkin and banana from the microkitchen and bring it to the table. last 20 steps: 1- Go to the kitchen counter Q: next 5 steps? \u003cPRED\u003eA: 1- Put the tissue on the banana 2- Pick up the banana 3- Put the banana on the white table 4- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the tissue on the banana\n\u003c/PRED\u003e","video":"11002986783785622790.mp4"}
+{"uid":"17272567836316711128","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray 5- place fruit into the tray 6- place fruit into the tray 7- place fruit into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put apple in tray 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput apple in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray 5- place fruit into the tray 6- place fruit into the tray 7- place fruit into the tray Q: immediate next step? \u003cPRED\u003eA: put apple in tray\n\u003c/PRED\u003e","video":"18325957539750578463.mp4"}
+{"uid":"16077432360022804849","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place fruit into the tray 2- drop the apple into tray 3- place fruit into the tray 4- place fruit into the tray 5- place fruit into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace fruit into the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray Q: immediate next step? \u003cPRED\u003eA: place fruit into the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace fruit into the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5349680310520222867.mp4"}
+{"uid":"9820938916308356806","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray Q: immediate next step? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the apple into tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into tray 2- drop the apple into tray 3- place fruit into the tray 4- place fruit into the tray 5- place fruit into the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e","video":"9415346730145493390.mp4"}
+{"uid":"9832905209389774059","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray 5- place fruit into the tray 6- place fruit into the tray Q: immediate next step? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the apple into tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 apple into tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the apples into the crate. last 20 steps: 1- place fruit into the tray 2- place fruit into the tray 3- place fruit into the tray 4- drop the apple into tray 5- place fruit into the tray 6- place fruit into the tray Q: next 5 steps? \u003cPRED\u003eA: 1- drop the apple into tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the apples into the crate Q: immediate next step? \u003cPRED\u003eA: drop the apple into tray\n\u003c/PRED\u003e","video":"2062332468523364303.mp4"}
+{"uid":"1050895922499321811","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":"3430139455800962799.mp4"}
+{"uid":"14543797912006036479","text":"\u003ctask:success:discrete:False\u003e\nClose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please close door to all phone room office. last 20 steps: 1- Close the door 2- Close the door Q: immediate next step? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please close door to all phone room office Q: immediate next step? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please close door to all phone room office. 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","video":"7068431610138710296.mp4"}
+{"uid":"1078924679395498651","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":"17262734987350903552.mp4"}
+{"uid":"8348031005601849478","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17696868903902237315.mp4"}
+{"uid":"6131614460778196426","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclean the table 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":"5778430187263277827.mp4"}
+{"uid":"15790457655798044432","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please close door to all phone room office. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please close door to all phone room office. 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: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:planning:freeform\u003e\ncurrent goal is: please close door to all phone room office Q: immediate next step? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e","video":"11592365767027141521.mp4"}
+{"uid":"3064329586614507402","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please close door to all phone room office Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please close door to all phone room office. 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please close door to all phone room office. 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","video":"332462549205147569.mp4"}
+{"uid":"534298619314916480","text":"\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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please close door to all phone room office. last 20 steps: 1- Close the door Q: immediate next step? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please close door to all phone room office. 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:planning:freeform\u003e\ncurrent goal is: please close door to all phone room office Q: immediate next step? \u003cPRED\u003eA: Close the door\n\u003c/PRED\u003e","video":"4019850702275542764.mp4"}
+{"uid":"10736918944326885758","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace white chip packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17625895580052384516.mp4"}
+{"uid":"7715772483530859166","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":"14505392918566068363.mp4"}
+{"uid":"12643940540912509931","text":"\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. 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: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:planning:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put book in the shelf\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. 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- put chair inside the table 3- turn off the lamp 4- close the window 5- done\n\u003c/PRED\u003e","video":"5981232145469466762.mp4"}
+{"uid":"9205803485301003162","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the door of the fridge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. last 20 steps: 1- pour the cornflakes into the paper bowl 2- place the lead on the jar 3- open the door of the fridge 4- place the milk bottle on the counter 5- open the lead of the milk bottle 6- pour the milk into the paper bowl 7- close the lead of the milk bottle 8- pick up the milk bottle from the counter Q: next 5 steps? \u003cPRED\u003eA: 1- open the door of the fridge 2- place the milk bottle into the fridge 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the door of 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 door of the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. Q: immediate next step? \u003cPRED\u003eA: open the door of the fridge\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the door of the fridge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. last 20 steps: 1- pour the cornflakes into the paper bowl 2- place the lead on the jar 3- open the door of the fridge 4- place the milk bottle on the counter 5- open the lead of the milk bottle 6- pour the milk into the paper bowl 7- close the lead of the milk bottle 8- pick up the milk bottle from the counter Q: immediate next step? \u003cPRED\u003eA: open the door of the fridge\n\u003c/PRED\u003e","video":"17464588775129138503.mp4"}
+{"uid":"3205056939749137390","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":"15180016159503077743.mp4"}
+{"uid":"15897910383448094675","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":"6624873310485702171.mp4"}
+{"uid":"12312877903276096143","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pink packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12379062885084731447.mp4"}
+{"uid":"18105050303425584780","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lead on the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. last 20 steps: 1- pour the cornflakes into the paper bowl Q: immediate next step? \u003cPRED\u003eA: place the lead on the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. last 20 steps: 1- pour the cornflakes into the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the lead on the jar 2- open the door of the fridge 3- place the milk bottle on the counter 4- open the lead of the milk bottle 5- pour the milk into the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the lead on the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lead on the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lead on the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. Q: immediate next step? \u003cPRED\u003eA: place the lead on the jar\n\u003c/PRED\u003e","video":"15913434892953633381.mp4"}
+{"uid":"3184023170755204899","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":"17534513280871739422.mp4"}
+{"uid":"6234150635133445662","text":"\u003ctask:success:discrete:True\u003e\nplace the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e","video":"3218937306069584728.mp4"}
+{"uid":"9510849399553943563","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink packet in the tray 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e","video":"9369841075110104850.mp4"}
+{"uid":"15101351257017580299","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the stone 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":"15020418018582722772.mp4"}
+{"uid":"11092820692205102742","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white fork 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":"6961050123550926294.mp4"}
+{"uid":"8565033507456895323","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put chair inside the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput chair inside the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put chair inside the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. 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- put chair inside the table 2- turn off the lamp 3- close the window 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. 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: put chair inside the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. Q: immediate next step? \u003cPRED\u003eA: put chair inside the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput chair inside the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16037539693062464534.mp4"}
+{"uid":"2463748746076476108","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":"1681968228191066128.mp4"}
+{"uid":"16694366856796890486","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: turn off the lamp\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. last 20 steps: 1- put book in the shelf 2- put book in the shelf 3- put book in the shelf 4- put chair inside the table Q: next 5 steps? \u003cPRED\u003eA: 1- turn off the lamp 2- close the window 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. last 20 steps: 1- put book in the shelf 2- put book in the shelf 3- put book in the shelf 4- put chair inside the table Q: immediate next step? \u003cPRED\u003eA: turn off the lamp\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: turn off the lamp\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nturn off the lamp Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nturn off the lamp Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. Q: immediate next step? \u003cPRED\u003eA: turn off the lamp\n\u003c/PRED\u003e","video":"438811320392901935.mp4"}
+{"uid":"8019687552467604202","text":"\u003ctask:success:discrete:True\u003e\nplace the pink packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e","video":"6694134340237977075.mp4"}
+{"uid":"14266541056949580422","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the milk bottle on the 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:planning:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. Q: immediate next step? \u003cPRED\u003eA: place the milk bottle on the counter\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the milk bottle on the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. last 20 steps: 1- pour the cornflakes into the paper bowl 2- place the lead on the jar 3- open the door of the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- place the milk bottle on the counter 2- open the lead of the milk bottle 3- pour the milk into the paper bowl 4- close the lead of the milk bottle 5- pick up the milk bottle from the counter\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. last 20 steps: 1- pour the cornflakes into the paper bowl 2- place the lead on the jar 3- open the door of the fridge Q: immediate next step? \u003cPRED\u003eA: place the milk bottle on the counter\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the milk bottle on the counter\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the milk bottle on the counter\n\u003c/PRED\u003e","video":"10544510871926242988.mp4"}
+{"uid":"11495108145863032742","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. last 20 steps: 1- put book in the shelf 2- put book in the shelf 3- put book in the shelf 4- put chair inside the table 5- turn off the lamp 6- close the window Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. last 20 steps: 1- put book in the shelf 2- put book in the shelf 3- put book in the shelf 4- put chair inside the table 5- turn off the lamp 6- close the window Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the window Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the window\n\u003c/PRED\u003e","video":"6230755281316948198.mp4"}
+{"uid":"6395614632300489493","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green marker in the first 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":"9634253505202444137.mp4"}
+{"uid":"17543265475169495830","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown 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":"5385357788964118026.mp4"}
+{"uid":"8023629844040980007","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray 6- place the pink packet in the tray 7- place the orange packet in the tray 8- place the orange packet in the tray 9- place the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange packet in the tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray 6- place the pink packet in the tray 7- place the orange packet in the tray 8- place the orange packet in the tray 9- place the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e","video":"15719182188758035874.mp4"}
+{"uid":"6808508647205856202","text":"\u003ctask:success:discrete:False\u003e\nplace the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray 6- place the pink packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray 6- place the pink packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange packet in the tray 2- place the orange packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e","video":"15736447567182869752.mp4"}
+{"uid":"4795341858158720421","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the left 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":"6948161617935955511.mp4"}
+{"uid":"18298885244894308774","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e","video":"1543139095118770521.mp4"}
+{"uid":"2397014558524496779","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the lead of the milk bottle\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the milk bottle on the counter\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the lead of the milk 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:success:discrete:True\u003e\nplace the milk bottle on the 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. last 20 steps: 1- pour the cornflakes into the paper bowl 2- place the lead on the jar 3- open the door of the fridge 4- place the milk bottle on the counter Q: next 5 steps? \u003cPRED\u003eA: 1- open the lead of the milk bottle 2- pour the milk into the paper bowl 3- close the lead of the milk bottle 4- pick up the milk bottle from the counter 5- open the door of the fridge\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. Q: immediate next step? \u003cPRED\u003eA: open the lead of the milk bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the lead of the milk 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: open the lead of the milk bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. last 20 steps: 1- pour the cornflakes into the paper bowl 2- place the lead on the jar 3- open the door of the fridge 4- place the milk bottle on the counter Q: immediate next step? \u003cPRED\u003eA: open the lead of the milk bottle\n\u003c/PRED\u003e","video":"14757298940723379271.mp4"}
+{"uid":"11696246993997181907","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray\n\u003c/PRED\u003e","video":"7813991202586231607.mp4"}
+{"uid":"3215699218359185312","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pink packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11002137018289121892.mp4"}
+{"uid":"15068528437952092334","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":"2081191586135224708.mp4"}
+{"uid":"13396776993591225743","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the Logitech mouse 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":"12723874562145151390.mp4"}
+{"uid":"7582940676537830605","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":"6950437414194757689.mp4"}
+{"uid":"5049642225008084880","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the left side black file 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":"14985832889123613482.mp4"}
+{"uid":"2539866619724711157","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray 6- place the pink packet in the tray 7- place the orange packet in the tray 8- place the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray 6- place the pink packet in the tray 7- place the orange packet in the tray 8- place the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange packet in the tray 2- place the orange packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e","video":"3091892232033343393.mp4"}
+{"uid":"13657896335562559459","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the almond eggs 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":"9793561363752101319.mp4"}
+{"uid":"16506658506877804329","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can on the 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":"1865386437794054221.mp4"}
+{"uid":"8928192428896375760","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put book in the shelf\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: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:planning:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put book in the shelf 2- put book in the shelf 3- put book in the shelf 4- put chair inside the table 5- turn off the lamp\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","video":"9823129654144311588.mp4"}
+{"uid":"2534210882480383123","text":"\u003ctask:success:discrete:True\u003e\nplace the pink packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e","video":"12120803299728134336.mp4"}
+{"uid":"12209537903940797717","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose 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":"13221055748782150794.mp4"}
+{"uid":"17620249155786843013","text":"\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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. 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- put chair inside the table 4- turn off the lamp 5- close the window\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. Q: immediate next step? \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: Please clean the library area, turn off the desk lamp and close the window blinds. 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put book in the shelf\n\u003c/PRED\u003e","video":"7376304319142301425.mp4"}
+{"uid":"9631787748718169388","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":"1320233824764756438.mp4"}
+{"uid":"11047514808618243809","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":"12293339682350723863.mp4"}
+{"uid":"705663278581777970","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lead on the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the lead 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":"12498688744259633704.mp4"}
+{"uid":"53942303145023780","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy 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":"10001040087885929779.mp4"}
+{"uid":"155993536648650179","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop yellow paper in the desk Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9989789445128824327.mp4"}
+{"uid":"4440033389752655979","text":"\u003ctask:success:discrete:False\u003e\nplace the pink packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e","video":"13199399074488820959.mp4"}
+{"uid":"7380809624383823889","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray 6- place the pink packet in the tray 7- place the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray 6- place the pink packet in the tray 7- place the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange packet in the tray 2- place the orange packet in the tray 3- place the orange packet in the tray 4- done\n\u003c/PRED\u003e","video":"16766956419890736923.mp4"}
+{"uid":"17430565766217860642","text":"\u003ctask:success:discrete:True\u003e\nplace the pink packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e","video":"15103228553640450762.mp4"}
+{"uid":"5508248633479225811","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17812855394607562947.mp4"}
+{"uid":"13334301633172764725","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the door of the fridge\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. last 20 steps: 1- pour the cornflakes into the paper bowl 2- place the lead on the jar Q: immediate next step? \u003cPRED\u003eA: open the door of the fridge\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the door of the fridge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. last 20 steps: 1- pour the cornflakes into the paper bowl 2- place the lead on the jar Q: next 5 steps? \u003cPRED\u003eA: 1- open the door of the fridge 2- place the milk bottle on the counter 3- open the lead of the milk bottle 4- pour the milk into the paper bowl 5- close the lead of the milk bottle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the door of 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 door of the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. Q: immediate next step? \u003cPRED\u003eA: open the door of the fridge\n\u003c/PRED\u003e","video":"501911290155877901.mp4"}
+{"uid":"16948664545495012581","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. last 20 steps: 1- pour the cornflakes into the paper bowl 2- place the lead on the jar 3- open the door of the fridge 4- place the milk bottle on the counter 5- open the lead of the milk bottle 6- pour the milk into the paper bowl 7- close the lead of the milk bottle Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the milk bottle from the counter 2- open the door of the fridge 3- place the milk bottle into the fridge 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the milk bottle from the 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the milk bottle from the counter\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. last 20 steps: 1- pour the cornflakes into the paper bowl 2- place the lead on the jar 3- open the door of the fridge 4- place the milk bottle on the counter 5- open the lead of the milk bottle 6- pour the milk into the paper bowl 7- close the lead of the milk bottle Q: immediate next step? \u003cPRED\u003eA: pick up the milk bottle from the counter\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the milk bottle from the counter\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. Q: immediate next step? \u003cPRED\u003eA: pick up the milk bottle from the counter\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the milk bottle from the 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","video":"3107395349342191446.mp4"}
+{"uid":"13080833743325941279","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut glass 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":"17270655858224445323.mp4"}
+{"uid":"1497040771575850080","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the milk bottle into the fridge Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the milk bottle into the fridge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. last 20 steps: 1- pour the cornflakes into the paper bowl 2- place the lead on the jar 3- open the door of the fridge 4- place the milk bottle on the counter 5- open the lead of the milk bottle 6- pour the milk into the paper bowl 7- close the lead of the milk bottle 8- pick up the milk bottle from the counter 9- open the door of the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- place the milk bottle into the fridge 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. last 20 steps: 1- pour the cornflakes into the paper bowl 2- place the lead on the jar 3- open the door of the fridge 4- place the milk bottle on the counter 5- open the lead of the milk bottle 6- pour the milk into the paper bowl 7- close the lead of the milk bottle 8- pick up the milk bottle from the counter 9- open the door of the fridge Q: immediate next step? \u003cPRED\u003eA: place the milk bottle into the fridge\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. Q: immediate next step? \u003cPRED\u003eA: place the milk bottle into the fridge\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the milk bottle into the fridge\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the milk bottle into 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":"251325967821762380.mp4"}
+{"uid":"3437358067147295170","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour the cornflakes into the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npour the cornflakes into the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9460017729958458765.mp4"}
+{"uid":"13683287870329306255","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. last 20 steps: 1- pour the cornflakes into the paper bowl 2- place the lead on the jar 3- open the door of the fridge 4- place the milk bottle on the counter 5- open the lead of the milk bottle 6- pour the milk into the paper bowl Q: next 5 steps? \u003cPRED\u003eA: 1- close the lead of the milk bottle 2- pick up the milk bottle from the counter 3- open the door of the fridge 4- place the milk bottle into the fridge 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the lead of the milk 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: Please prepare a bowl of cereal for me and bring into to my table in mk. Q: immediate next step? \u003cPRED\u003eA: close the lead of the milk bottle\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. last 20 steps: 1- pour the cornflakes into the paper bowl 2- place the lead on the jar 3- open the door of the fridge 4- place the milk bottle on the counter 5- open the lead of the milk bottle 6- pour the milk into the paper bowl Q: immediate next step? \u003cPRED\u003eA: close the lead of the milk bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the lead of the milk bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the lead of the milk bottle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the lead of the milk bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9233906310938972700.mp4"}
+{"uid":"10338035925676170935","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour the milk into the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npour the milk into the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18303575169564033433.mp4"}
+{"uid":"14136660255552327040","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the alphabet tile in the pouch Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3548520896098837784.mp4"}
+{"uid":"14326824309050282625","text":"\u003ctask:success:discrete:False\u003e\nclose the window Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. last 20 steps: 1- put book in the shelf 2- put book in the shelf 3- put book in the shelf 4- put chair inside the table 5- turn off the lamp Q: next 5 steps? \u003cPRED\u003eA: 1- close the window 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. last 20 steps: 1- put book in the shelf 2- put book in the shelf 3- put book in the shelf 4- put chair inside the table 5- turn off the lamp Q: immediate next step? \u003cPRED\u003eA: close the window\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the window\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. Q: immediate next step? \u003cPRED\u003eA: close the window\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the window\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the window Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4425796721331291047.mp4"}
+{"uid":"14822528021237071756","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. Q: immediate next step? \u003cPRED\u003eA: pour the milk into the paper bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. last 20 steps: 1- pour the cornflakes into the paper bowl 2- place the lead on the jar 3- open the door of the fridge 4- place the milk bottle on the counter 5- open the lead of the milk bottle Q: immediate next step? \u003cPRED\u003eA: pour the milk into the paper bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour the milk into the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour the milk into the paper bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please prepare a bowl of cereal for me and bring into to my table in mk. last 20 steps: 1- pour the cornflakes into the paper bowl 2- place the lead on the jar 3- open the door of the fridge 4- place the milk bottle on the counter 5- open the lead of the milk bottle Q: next 5 steps? \u003cPRED\u003eA: 1- pour the milk into the paper bowl 2- close the lead of the milk bottle 3- pick up the milk bottle from the counter 4- open the door of the fridge 5- place the milk bottle into the fridge\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour the milk into the paper bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npour the milk into the paper bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14471181853075720949.mp4"}
+{"uid":"14875544629155550786","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the orange packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e","video":"16311549009923691563.mp4"}
+{"uid":"17493500170599410869","text":"\u003ctask:success:discrete:True\u003e\nclose the lead of the milk 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: close the lead of the milk bottle\n\u003c/PRED\u003e","video":"1852594512770874822.mp4"}
+{"uid":"4088753498619993388","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":"17190701731541373165.mp4"}
+{"uid":"2195265977315016873","text":"\u003ctask:success:discrete:True\u003e\nplace the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray 6- place the pink packet in the tray 7- place the orange packet in the tray 8- place the orange packet in the tray 9- place the orange packet in the tray 10- place the orange packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the pink packet in the tray 5- place the pink packet in the tray 6- place the pink packet in the tray 7- place the orange packet in the tray 8- place the orange packet in the tray 9- place the orange packet in the tray 10- place the orange packet in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1595661979198782475.mp4"}
+{"uid":"8692652495186770907","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray 4- place the orange packet in the tray 5- place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- place the pink packet in the tray 2- place the pink packet in the tray 3- place the pink packet in the tray Q: immediate next step? \u003cPRED\u003eA: place the pink packet in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pink packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1198905424710254484.mp4"}
+{"uid":"17562336130959268412","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove 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":"5272804247799729463.mp4"}
+{"uid":"17651359943930029436","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange packet in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the orange packet in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17521089981430970758.mp4"}
+{"uid":"13599570698598540955","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":"1819553507769813589.mp4"}
+{"uid":"79294653369881165","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":"11178305001152812350.mp4"}
+{"uid":"1078319158697061011","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses on the existing stack in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14608895525522734553.mp4"}
+{"uid":"6635661939370696379","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order 9- Place the sugar packets in the container 10- Place the sugar packets in the container 11- Place the sugar packet in the container 12- Place the sugar packets in the container 13- Arrange the sugar packets in order 14- Place the sugar packet in the container 15- Arrange the sugar packets in order 16- Place the sugar packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the container 2- Move the sugar packets to top of the table 3- Place the sugar packet in the container 4- Place the sugar packet in the container 5- Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order 9- Place the sugar packets in the container 10- Place the sugar packets in the container 11- Place the sugar packet in the container 12- Place the sugar packets in the container 13- Arrange the sugar packets in order 14- Place the sugar packet in the container 15- Arrange the sugar packets in order 16- Place the sugar packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e","video":"15704408480338825612.mp4"}
+{"uid":"17721623074378442883","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the container 2- Arrange the sugar packet in the container 3- Place the sugar packet in the container 4- Place the sugar packets in the container 5- Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e","video":"1866265001309967184.mp4"}
+{"uid":"10010322053751491533","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order 9- Place the sugar packets in the container 10- Place the sugar packets in the container 11- Place the sugar packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packets in the container 2- Arrange the sugar packets in order 3- Place the sugar packet in the container 4- Arrange the sugar packets in order 5- Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packets in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order 9- Place the sugar packets in the container 10- Place the sugar packets in the container 11- Place the sugar packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e","video":"13021631695104319561.mp4"}
+{"uid":"11679643731296967849","text":"\u003ctask:success:discrete:False\u003e\nArrange the sugar packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser Q: immediate next step? \u003cPRED\u003eA: Arrange the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the sugar packet in the container 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Place the sugar packets in the container 5- Arrange the sugar packet in order\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container Q: immediate next step? \u003cPRED\u003eA: Arrange the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6905874508734523905.mp4"}
+{"uid":"9857329388746536763","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the sugar packets in order\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the sugar packets in order\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nArrange the sugar packets in order Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- Arrange the sugar packet in the container 4- Place the sugar packet in the container 5- Place the sugar packets in the container 6- Place the sugar packets in the container 7- Arrange the sugar packet in order 8- Place the sugar packets in the container 9- Place the sugar packets in the container 10- Place the sugar packet in the container 11- Place the sugar packets in the container 12- Arrange the sugar packets in order 13- Place the sugar packet in the container 14- Arrange the sugar packets in order 15- Place the sugar packet in the container 16- Place the sugar packet in the container 17- Move the sugar packets to top of the table 18- Place the sugar packet in the container 19- Place the sugar packet in the container 20- Place the sugar packet in the container Q: immediate next step? \u003cPRED\u003eA: Arrange the sugar packets in order\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- Arrange the sugar packet in the container 4- Place the sugar packet in the container 5- Place the sugar packets in the container 6- Place the sugar packets in the container 7- Arrange the sugar packet in order 8- Place the sugar packets in the container 9- Place the sugar packets in the container 10- Place the sugar packet in the container 11- Place the sugar packets in the container 12- Arrange the sugar packets in order 13- Place the sugar packet in the container 14- Arrange the sugar packets in order 15- Place the sugar packet in the container 16- Place the sugar packet in the container 17- Move the sugar packets to top of the table 18- Place the sugar packet in the container 19- Place the sugar packet in the container 20- Place the sugar packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the sugar packets in order 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser Q: immediate next step? \u003cPRED\u003eA: Arrange the sugar packets in order\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the sugar packets in order Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2186927697537496069.mp4"}
+{"uid":"3701493237966357175","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the chocolate candy into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13573382429992251314.mp4"}
+{"uid":"4723525649284482201","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick 4th 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":"12888648172464015196.mp4"}
+{"uid":"10162680010684133739","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the white pebble into the right disposable 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":"13284002549366713865.mp4"}
+{"uid":"10610054197846866571","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":"7372261904642181861.mp4"}
+{"uid":"4086171006884756220","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the black 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":"11694899453595565292.mp4"}
+{"uid":"6681209693331701175","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the sugar packet in order 2- Place the sugar packets in the container 3- Place the sugar packets in the container 4- Place the sugar packet in the container 5- Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container Q: immediate next step? \u003cPRED\u003eA: Arrange the sugar packet in order\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser Q: immediate next step? \u003cPRED\u003eA: Arrange the sugar packet in order\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nArrange the sugar packet in order Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the sugar packet in order\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the sugar packet in order Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the sugar packet in order\n\u003c/PRED\u003e","video":"16680803090134617273.mp4"}
+{"uid":"2532545142833004236","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9295204699090674602.mp4"}
+{"uid":"15988955886886999278","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12921019247279493202.mp4"}
+{"uid":"9012113111157845363","text":"\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 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: 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 stapler 2- put stapler on table 3- open the drawer 4- put packet on table 5- close the drawer 6- pick up packet 7- leave the room Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: 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 stapler 2- put stapler on table 3- open the drawer 4- put packet on table 5- close the drawer 6- pick up packet 7- leave the room Q: immediate next step? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3824428188634180789.mp4"}
+{"uid":"12671037471535551955","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packets in the container 2- Arrange the sugar packet in order 3- Place the sugar packets in the container 4- Place the sugar packets in the container 5- Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e","video":"3646455956117908410.mp4"}
+{"uid":"10577434781957861063","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput stapler 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 stapler on 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 stapler Q: next 5 steps? \u003cPRED\u003eA: 1- put stapler on table 2- open the drawer 3- put packet on table 4- close the drawer 5- pick up packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put stapler on 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 stapler Q: immediate next step? \u003cPRED\u003eA: put stapler on 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 table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput stapler 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":"14227311304212185050.mp4"}
+{"uid":"13769248769126823176","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":"13706155527204288484.mp4"}
+{"uid":"14210745675595651560","text":"\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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on 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 stapler 2- put stapler on table 3- open the drawer 4- put packet on table 5- close the drawer 6- pick up packet 7- leave the room 8- put packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am 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 stapler 2- put stapler on table 3- open the drawer 4- put packet on table 5- close the drawer 6- pick up packet 7- leave the room 8- put packet on table Q: immediate next step? \u003cPRED\u003eA: done\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":"12364439733133126828.mp4"}
+{"uid":"1651060204511054752","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order 9- Place the sugar packets in the container 10- Place the sugar packets in the container 11- Place the sugar packet in the container 12- Place the sugar packets in the container 13- Arrange the sugar packets in order 14- Place the sugar packet in the container 15- Arrange the sugar packets in order Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- Move the sugar packets to top of the table 4- Place the sugar packet in the container 5- Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order 9- Place the sugar packets in the container 10- Place the sugar packets in the container 11- Place the sugar packet in the container 12- Place the sugar packets in the container 13- Arrange the sugar packets in order 14- Place the sugar packet in the container 15- Arrange the sugar packets in order Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5625059782606018468.mp4"}
+{"uid":"12109839565927579003","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18417255020087959507.mp4"}
+{"uid":"8495828793395731935","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packets in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packets in the container 2- Place the sugar packets in the container 3- Place the sugar packet in the container 4- Place the sugar packets in the container 5- Arrange the sugar packets in order\n\u003c/PRED\u003e","video":"18027378557578137079.mp4"}
+{"uid":"515964620359160323","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":"11857501661317166587.mp4"}
+{"uid":"1000003189253321229","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":"10186853211858083638.mp4"}
+{"uid":"5428165245982317863","text":"\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: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: 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 stapler 2- put stapler on table 3- open the drawer 4- put packet on table Q: immediate next step? \u003cPRED\u003eA: close 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 stapler 2- put stapler on table 3- open the drawer 4- put packet on table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- pick up packet 3- leave the room 4- put packet on 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e","video":"7675338166027391574.mp4"}
+{"uid":"16409269963364066257","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the sugar packets to top of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the sugar packets to top 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:planning:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser Q: immediate next step? \u003cPRED\u003eA: Move the sugar packets to top of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the sugar packets to top 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: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order 9- Place the sugar packets in the container 10- Place the sugar packets in the container 11- Place the sugar packet in the container 12- Place the sugar packets in the container 13- Arrange the sugar packets in order 14- Place the sugar packet in the container 15- Arrange the sugar packets in order 16- Place the sugar packet in the container 17- Place the sugar packet in the container Q: immediate next step? \u003cPRED\u003eA: Move the sugar packets to top of the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order 9- Place the sugar packets in the container 10- Place the sugar packets in the container 11- Place the sugar packet in the container 12- Place the sugar packets in the container 13- Arrange the sugar packets in order 14- Place the sugar packet in the container 15- Arrange the sugar packets in order 16- Place the sugar packet in the container 17- Place the sugar packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Move the sugar packets to top of the table 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Place the sugar packet in the container 5- Arrange the sugar packets in order\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the sugar packets to top of the table\n\u003c/PRED\u003e","video":"6820614666027245958.mp4"}
+{"uid":"8111179516799754582","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packets in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packets in the container 2- Place the sugar packets in the container 3- Arrange the sugar packet in order 4- Place the sugar packets in the container 5- Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e","video":"2024369816074887548.mp4"}
+{"uid":"5812646995578881293","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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: 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 packet\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 stapler 2- put stapler on table 3- open the drawer 4- put packet on table 5- close the drawer Q: immediate next step? \u003cPRED\u003eA: pick up packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up 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: 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 stapler 2- put stapler on table 3- open the drawer 4- put packet on table 5- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- pick up packet 2- leave the room 3- put packet on table 4- done\n\u003c/PRED\u003e","video":"16062102618857915505.mp4"}
+{"uid":"4685577049441383991","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the tissue on the stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7285691488338920969.mp4"}
+{"uid":"1917760158922221300","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order 9- Place the sugar packets in the container 10- Place the sugar packets in the container 11- Place the sugar packet in the container 12- Place the sugar packets in the container 13- Arrange the sugar packets in order 14- Place the sugar packet in the container 15- Arrange the sugar packets in order 16- Place the sugar packet in the container 17- Place the sugar packet in the container 18- Move the sugar packets to top of the table 19- Place the sugar packet in the container 20- Place the sugar packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the container 2- Arrange the sugar packets in order 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order 9- Place the sugar packets in the container 10- Place the sugar packets in the container 11- Place the sugar packet in the container 12- Place the sugar packets in the container 13- Arrange the sugar packets in order 14- Place the sugar packet in the container 15- Arrange the sugar packets in order 16- Place the sugar packet in the container 17- Place the sugar packet in the container 18- Move the sugar packets to top of the table 19- Place the sugar packet in the container 20- Place the sugar packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e","video":"4955322203727220165.mp4"}
+{"uid":"11006533007865952234","text":"\u003ctask:success:discrete:True\u003e\nPlace the sugar packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e","video":"3864156883326037305.mp4"}
+{"uid":"11726555607299805910","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplacing the packet in line Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17638459766889998851.mp4"}
+{"uid":"3455121104105101351","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order 9- Place the sugar packets in the container 10- Place the sugar packets in the container 11- Place the sugar packet in the container 12- Place the sugar packets in the container 13- Arrange the sugar packets in order 14- Place the sugar packet in the container 15- Arrange the sugar packets in order 16- Place the sugar packet in the container 17- Place the sugar packet in the container 18- Move the sugar packets to top of the table Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order 9- Place the sugar packets in the container 10- Place the sugar packets in the container 11- Place the sugar packet in the container 12- Place the sugar packets in the container 13- Arrange the sugar packets in order 14- Place the sugar packet in the container 15- Arrange the sugar packets in order 16- Place the sugar packet in the container 17- Place the sugar packet in the container 18- Move the sugar packets to top of the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packets in order 5- done\n\u003c/PRED\u003e","video":"15814937295069967769.mp4"}
+{"uid":"13298741904573593604","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":"10181721772892258399.mp4"}
+{"uid":"11062071460827398084","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- Arrange the sugar packet in the container 4- Place the sugar packet in the container 5- Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3838286432237047643.mp4"}
+{"uid":"13819993056360322459","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":"16288670723995770460.mp4"}
+{"uid":"14639322508907657139","text":"\u003ctask:success:discrete:False\u003e\nopen the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: 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 stapler 2- put stapler on table Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- put packet on table 3- close the drawer 4- pick up packet 5- leave the room\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: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: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 stapler 2- put stapler on table Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"11506330093903818593.mp4"}
+{"uid":"17264513072571530534","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace brown bowl 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":"1077120921703990587.mp4"}
+{"uid":"14611045179032485150","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"7972348071927389200.mp4"}
+{"uid":"9247788253400999627","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":"10349770331933312898.mp4"}
+{"uid":"11917194852189861141","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":"3861171625359997564.mp4"}
+{"uid":"9730598079236034089","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packets in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order 9- Place the sugar packets in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser Q: immediate next step? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order 9- Place the sugar packets in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packets in the container 2- Place the sugar packet in the container 3- Place the sugar packets in the container 4- Arrange the sugar packets in order 5- Place the sugar packet in the container\n\u003c/PRED\u003e","video":"8311465839173406356.mp4"}
+{"uid":"7677465353920427687","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the can 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":"2319052414758656427.mp4"}
+{"uid":"7348015258735103968","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nseparate bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6534932526486974451.mp4"}
+{"uid":"15732920778625336199","text":"\u003ctask:success:discrete:False\u003e\nput packet on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: 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 packet on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on table\n\u003c/PRED\u003e\u003ctask: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: 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 stapler 2- put stapler on table 3- open the drawer Q: immediate next step? \u003cPRED\u003eA: put packet on 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 stapler 2- put stapler on table 3- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on table 2- close the drawer 3- pick up packet 4- leave the room 5- put packet on table\n\u003c/PRED\u003e","video":"17032620551142046711.mp4"}
+{"uid":"12010049738391829653","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a 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":"2436540318956356003.mp4"}
+{"uid":"15797321440035566139","text":"\u003ctask:success:discrete:True\u003e\nPlace the sugar packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e","video":"12883325556700018174.mp4"}
+{"uid":"13015568304570087658","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3303198394349704862.mp4"}
+{"uid":"15634262970056107863","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pen and sticky note on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5236522506175014678.mp4"}
+{"uid":"11050909018507638077","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"230857829278271716.mp4"}
+{"uid":"4886012350114898674","text":"\u003ctask:success:discrete:True\u003e\nput stapler 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 stapler on table\n\u003c/PRED\u003e","video":"1534022567178139268.mp4"}
+{"uid":"8060609106436622320","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue 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":"8793376741319098189.mp4"}
+{"uid":"3838030077685627833","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order 9- Place the sugar packets in the container 10- Place the sugar packets in the container 11- Place the sugar packet in the container 12- Place the sugar packets in the container 13- Arrange the sugar packets in order 14- Place the sugar packet in the container 15- Arrange the sugar packets in order 16- Place the sugar packet in the container 17- Place the sugar packet in the container 18- Move the sugar packets to top of the table 19- Place the sugar packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order 9- Place the sugar packets in the container 10- Place the sugar packets in the container 11- Place the sugar packet in the container 12- Place the sugar packets in the container 13- Arrange the sugar packets in order 14- Place the sugar packet in the container 15- Arrange the sugar packets in order 16- Place the sugar packet in the container 17- Place the sugar packet in the container 18- Move the sugar packets to top of the table 19- Place the sugar packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the container 2- Place the sugar packet in the container 3- Arrange the sugar packets in order 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16799647759963403739.mp4"}
+{"uid":"13970265207232122304","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow packet on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13390650151179609679.mp4"}
+{"uid":"6109847393222224044","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: leave the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nleave the room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 stapler 2- put stapler on table 3- open the drawer 4- put packet on table 5- close the drawer 6- pick up packet Q: immediate next step? \u003cPRED\u003eA: leave 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 stapler 2- put stapler on table 3- open the drawer 4- put packet on table 5- close the drawer 6- pick up packet Q: next 5 steps? \u003cPRED\u003eA: 1- leave the room 2- put packet on table 3- 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: leave the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nleave the room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7985839738270039217.mp4"}
+{"uid":"4014549482094768145","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser Q: immediate next step? \u003cPRED\u003eA: Arrange the sugar packets in order\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the sugar packets in order\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nArrange the sugar packets in order Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the sugar packets in order\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order 9- Place the sugar packets in the container 10- Place the sugar packets in the container 11- Place the sugar packet in the container 12- Place the sugar packets in the container 13- Arrange the sugar packets in order 14- Place the sugar packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the sugar packets in order 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Move the sugar packets to top of the table 5- Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order 9- Place the sugar packets in the container 10- Place the sugar packets in the container 11- Place the sugar packet in the container 12- Place the sugar packets in the container 13- Arrange the sugar packets in order 14- Place the sugar packet in the container Q: immediate next step? \u003cPRED\u003eA: Arrange the sugar packets in order\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the sugar packets in order Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13100886199283243412.mp4"}
+{"uid":"16609923950900076974","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":"13234369954110920663.mp4"}
+{"uid":"10997287379368234549","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white packet in left bowls Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1252347236974276503.mp4"}
+{"uid":"14849746001443240769","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nkeep 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":"8786422970816599307.mp4"}
+{"uid":"1519836957522088181","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the container 2- Place the sugar packets in the container 3- Place the sugar packets in the container 4- Arrange the sugar packet in order 5- Place the sugar packets in the container\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4417867497878434227.mp4"}
+{"uid":"14780318630066647457","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the tissue on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16403996964781042447.mp4"}
+{"uid":"10894458965717588003","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order 9- Place the sugar packets in the container 10- Place the sugar packets in the container 11- Place the sugar packet in the container 12- Place the sugar packets in the container 13- Arrange the sugar packets in order Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order 9- Place the sugar packets in the container 10- Place the sugar packets in the container 11- Place the sugar packet in the container 12- Place the sugar packets in the container 13- Arrange the sugar packets in order Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the container 2- Arrange the sugar packets in order 3- Place the sugar packet in the container 4- Place the sugar packet in the container 5- Move the sugar packets to top of the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1288578916289578855.mp4"}
+{"uid":"6967637016618424051","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sugar packet in the container Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order 9- Place the sugar packets in the container 10- Place the sugar packets in the container Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser Q: immediate next step? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order 9- Place the sugar packets in the container 10- Place the sugar packets in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sugar packet in the container 2- Place the sugar packets in the container 3- Arrange the sugar packets in order 4- Place the sugar packet in the container 5- Arrange the sugar packets in order\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sugar packet in the container\n\u003c/PRED\u003e","video":"11887846760670472515.mp4"}
+{"uid":"3011586350275724337","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the sugar packets in order\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the sugar packets in order\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the sugar packets in order Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser Q: immediate next step? \u003cPRED\u003eA: Arrange the sugar packets in order\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order 9- Place the sugar packets in the container 10- Place the sugar packets in the container 11- Place the sugar packet in the container 12- Place the sugar packets in the container Q: immediate next step? \u003cPRED\u003eA: Arrange the sugar packets in order\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nArrange the sugar packets in order Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Stock the bown sugar packets in the front left section of the dispenser. last 20 steps: 1- Pickup the steel tong 2- Place the sugar packet in the container 3- Place the sugar packet in the container 4- Arrange the sugar packet in the container 5- Place the sugar packet in the container 6- Place the sugar packets in the container 7- Place the sugar packets in the container 8- Arrange the sugar packet in order 9- Place the sugar packets in the container 10- Place the sugar packets in the container 11- Place the sugar packet in the container 12- Place the sugar packets in the container Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the sugar packets in order 2- Place the sugar packet in the container 3- Arrange the sugar packets in order 4- Place the sugar packet in the container 5- Place the sugar packet in the container\n\u003c/PRED\u003e","video":"1350299007832856127.mp4"}
+{"uid":"3540104713594307676","text":"\u003ctask:success:discrete:True\u003e\nArrange the sugar packets in order Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Arrange the sugar packets in order\n\u003c/PRED\u003e","video":"1581391626310554129.mp4"}
+{"uid":"10516215025635588496","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"2492450760124230467.mp4"}
+{"uid":"4556440034577015928","text":"\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: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: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: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: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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e","video":"2637434642924255542.mp4"}
+{"uid":"223667312228412467","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: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":"15276999702378622967.mp4"}
+{"uid":"15545449333850785699","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cushion 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":"9834684088303468537.mp4"}
+{"uid":"7769894821209788560","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red marker inside 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":"7216258648145029778.mp4"}
+{"uid":"1903053563332372855","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the tea box\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: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: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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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- put numi box in stand 3- pick up the tea box 4- put numi box in stand 5- pick up the tea box\n\u003c/PRED\u003e","video":"9254650637626873411.mp4"}
+{"uid":"9511408025192314278","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3165461881135648772.mp4"}
+{"uid":"2426134006556941346","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"14270757176949460794.mp4"}
+{"uid":"960732848756911590","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3126869124221862137.mp4"}
+{"uid":"2372156035195477960","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the tea box\n\u003c/PRED\u003e\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","video":"16392491258536140961.mp4"}
+{"uid":"12074179351543037275","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the box in the top 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":"1383588698099322769.mp4"}
+{"uid":"8657646099762740295","text":"\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- put numi box in stand Q: immediate next step? \u003cPRED\u003eA: Pick up the box of breakfast blend\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the box of breakfast blend\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 breakfast blend\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the box of breakfast blend\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the box of breakfast blend Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- put numi box in stand Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the box of breakfast blend 2- put numi box in stand 3- pick up the tea box 4- put tea box in the stand 5- pick up the tea box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the box of breakfast blend Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10067734539264785751.mp4"}
+{"uid":"11173888799824132378","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":"12006709230042152322.mp4"}
+{"uid":"5524890764049669534","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":"9428267612132159411.mp4"}
+{"uid":"14441456255761138247","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":"13805200288590156557.mp4"}
+{"uid":"10709794934793253518","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":"13594470164593715160.mp4"}
+{"uid":"2940332348125369497","text":"\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 4 boxes of numi tea into the bottom slots. 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: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 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- put numi box in stand 3- pick up the tea box 4- put numi box in 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: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- put numi box in stand 3- pick up the tea box 4- put numi box in stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up numi box 2- put tea box in the stand 3- pick up the tea box 4- put numi box in stand 5- done\n\u003c/PRED\u003e","video":"16703457215427365054.mp4"}
+{"uid":"1782130214110318354","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: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 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: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 numi box 2- put numi box in stand 3- pick up the tea box 4- put numi box in stand 5- pick up the tea 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:planning:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: pick up numi box\n\u003c/PRED\u003e","video":"9626524183613507569.mp4"}
+{"uid":"16778117824266335654","text":"\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 4 boxes of numi tea into the bottom slots. last 20 steps: 1- pick up the tea box 2- put numi box in stand 3- pick up the tea box 4- put numi box in stand 5- pick up the tea box 6- put tea box in the stand Q: immediate next step? \u003cPRED\u003eA: pick up numi 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- put numi box in stand 3- pick up the tea box 4- put numi box in stand 5- pick up the tea box 6- put tea box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up numi box 2- put numi box in stand 3- done\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:planning:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up numi box\n\u003c/PRED\u003e","video":"17757446187165897281.mp4"}
+{"uid":"5393668705251775929","text":"\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: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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the door\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: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: none Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e","video":"17809812960794852246.mp4"}
+{"uid":"6895372207517164765","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":"11368804736533391920.mp4"}
+{"uid":"5887444473431925562","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":"9266463239934182397.mp4"}
+{"uid":"10472470370571717290","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange  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":"17197953402741022441.mp4"}
+{"uid":"10524028223609339536","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tea box in the stand\n\u003c/PRED\u003e\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","video":"712621027374397145.mp4"}
+{"uid":"3620536190132191418","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":"15329500360167507151.mp4"}
+{"uid":"2964676934526383598","text":"\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: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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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- put numi box in stand Q: immediate next step? \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: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- put numi box in stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tea box 2- put numi box in stand 3- pick up the tea box 4- put tea box in the stand 5- pick up the tea box\n\u003c/PRED\u003e","video":"15632115291027080257.mp4"}
+{"uid":"5648843004132327892","text":"\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- put numi box in stand 3- pick up the tea box 4- put numi box in stand Q: immediate next step? \u003cPRED\u003eA: pick up the tea box\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: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: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- put numi box in stand 3- pick up the tea box 4- put numi box in stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tea box 2- put tea box in the stand 3- pick up the tea box 4- put numi box in stand 5- done\n\u003c/PRED\u003e","video":"2003695949983623919.mp4"}
+{"uid":"17923993716208345254","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pista in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15759323273968290697.mp4"}
+{"uid":"17580422801349156641","text":"\u003ctask:success:discrete:True\u003e\nput numi 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: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: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- put numi box in stand 3- pick up the tea box 4- put numi box in stand 5- pick up the tea box 6- put tea box in the stand 7- pick up the tea box 8- put numi box in 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 numi box in 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- put numi box in stand 3- pick up the tea box 4- put numi box in stand 5- pick up the tea box 6- put tea box in the stand 7- pick up the tea box 8- put numi box in stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11652723887158270992.mp4"}
+{"uid":"3181282775541431942","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: put numi box in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put numi box in 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- put numi box in stand 3- pick up the tea box 4- put numi box in stand 5- pick up the tea box 6- put tea box in the stand 7- pick up the tea box Q: immediate next step? \u003cPRED\u003eA: put numi box in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput numi 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 numi 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: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- put numi box in stand 3- pick up the tea box 4- put numi box in stand 5- pick up the tea box 6- put tea box in the stand 7- pick up the tea box Q: next 5 steps? \u003cPRED\u003eA: 1- put numi box in stand 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put numi box in stand\n\u003c/PRED\u003e","video":"6205408935586081826.mp4"}
+{"uid":"2208872721125351216","text":"\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: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\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:success:discrete:False\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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","video":"15035488564439025163.mp4"}
+{"uid":"5163348383420161030","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":"7851141915824148772.mp4"}
+{"uid":"2384005289022929214","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put numi box in stand\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up numi box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put numi box in 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 numi box in stand 2- pick up the tea box 3- put numi box in stand 4- pick up the tea box 5- 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 numi box in 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: put numi box in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput numi 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 numi 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: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":"5204987914847776181.mp4"}
+{"uid":"18052578035668442835","text":"\u003ctask:success:discrete:True\u003e\nput numi 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 numi box in stand\n\u003c/PRED\u003e","video":"8810468720066283622.mp4"}
+{"uid":"2500149578460742803","text":"\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: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: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 gunpowder green\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: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 gunpowder green 2- put numi box in stand 3- pick up the tea box 4- put numi box in stand 5- pick up the tea box\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","video":"11745066995173502778.mp4"}
+{"uid":"5553937726017439505","text":"\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: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- put numi box in stand 3- pick up the tea box 4- put numi box in stand 5- pick up the tea box 6- put tea box in the stand 7- pick up the tea box Q: next 5 steps? \u003cPRED\u003eA: 1- put tea box in the stand 2- 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- put numi box in stand 3- pick up the tea box 4- put numi box in stand 5- pick up the tea box 6- put tea box in the stand 7- pick up the tea box Q: immediate next step? \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: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","video":"11939119638590939996.mp4"}
+{"uid":"4517934390530234845","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop packets 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":"337889599379239674.mp4"}
+{"uid":"13450269068357598292","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":"4809664345294146675.mp4"}
+{"uid":"15395642581863143176","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put tea box in the stand\n\u003c/PRED\u003e\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","video":"1402898090416818698.mp4"}
+{"uid":"14831524136580066652","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sugar packet into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2320200132673959741.mp4"}
+{"uid":"13689004993027873604","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: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- put numi box in stand 3- pick up the tea box Q: immediate next step? \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: 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: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- put numi box in stand 3- 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- put tea box in the stand 4- pick up the tea box 5- put numi box in stand\n\u003c/PRED\u003e","video":"1089901963130190720.mp4"}
+{"uid":"3154288406975208395","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the box of white rose\n\u003c/PRED\u003e\u003ctask: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: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: 1- pick up the tea box 2- put numi box in stand 3- pick up the tea box 4- put numi box in stand 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: 1- pick up the tea box 2- put numi box in stand 3- pick up the tea box 4- put numi box in stand Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the box of white rose 2- put tea box in the stand 3- pick up the tea box 4- put numi box in stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the box of white rose Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3285260671320072459.mp4"}
+{"uid":"13780893148019496906","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the tea box\n\u003c/PRED\u003e\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","video":"4605456508212813588.mp4"}
+{"uid":"1330615356724634587","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":"4214699631030288999.mp4"}
+{"uid":"15348773531406036349","text":"\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: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- put numi box in stand 4- pick up the tea box 5- 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: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: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: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: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","video":"8443396363508258008.mp4"}
+{"uid":"942536315346470804","text":"\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 4 boxes of numi tea into the bottom slots. Q: immediate next step? \u003cPRED\u003eA: pick up numi 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- put numi box in stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up numi box 2- put numi box in stand 3- pick up the tea box 4- put tea box in the stand 5- pick up the tea 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: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: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- put numi box in stand 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","video":"4747310952695381512.mp4"}
+{"uid":"4010278050899946942","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":"2100304332895935588.mp4"}
+{"uid":"9624661818371469044","text":"\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: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- put numi box in stand 3- pick up the tea box 4- put numi box in stand 5- pick up the tea box 6- put tea box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the box of golden chai 2- put numi box in stand 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the box of golden chai\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- put numi box in stand 3- pick up the tea box 4- put numi box in stand 5- pick up the tea box 6- put tea box in the stand Q: immediate next step? \u003cPRED\u003eA: Pick up the box of golden chai\n\u003c/PRED\u003e\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: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","video":"928054378412433354.mp4"}
+{"uid":"5340804403834810840","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put numi box in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput numi 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":"14376339469491633415.mp4"}
+{"uid":"5722904063658487582","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":"17018264519168797704.mp4"}
+{"uid":"14043383931307787148","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":"15179554076400106294.mp4"}
+{"uid":"10988424192519856999","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the paper glass 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":"3535925816780364563.mp4"}
+{"uid":"16455983835727037800","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in 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":"480627829328969056.mp4"}
+{"uid":"1294926311493884278","text":"\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: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: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: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- put numi box in stand 3- pick up the tea box 4- put numi box in stand 5- pick up the tea box 6- put tea box in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the tea box 2- put numi box in stand 3- 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- put numi box in stand 3- pick up the tea box 4- put numi box in stand 5- pick up the tea box 6- put tea box in the stand Q: immediate next step? \u003cPRED\u003eA: pick up the tea box\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","video":"11626661211225684656.mp4"}
+{"uid":"16509649552021717807","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":"4094620414881483211.mp4"}
+{"uid":"4968895610861600774","text":"\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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- put numi box in stand 3- pick up the tea box 4- put numi box in stand 5- pick up the tea box Q: immediate next step? \u003cPRED\u003eA: put tea box in the stand\n\u003c/PRED\u003e\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: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- put numi box in stand 3- pick up the tea box 4- put numi box in stand 5- 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- put numi box in stand 4- done\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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put tea box in the stand\n\u003c/PRED\u003e","video":"10842042481678718263.mp4"}
+{"uid":"690309363173844810","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the 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":"12909430831386215694.mp4"}
+{"uid":"14205736019667187849","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the book from the right stack on the book shelf 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":"12672677731012134990.mp4"}
+{"uid":"17760424204331201951","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace sugar 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":"12859191133876496874.mp4"}
+{"uid":"7318054222318845243","text":"\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- put numi box in stand 3- pick up the tea box Q: immediate next step? \u003cPRED\u003eA: put numi box in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put numi box in 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: put numi box in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput numi 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 numi 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 numi box in 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- put numi box in stand 3- pick up the tea box Q: next 5 steps? \u003cPRED\u003eA: 1- put numi box in stand 2- pick up the tea box 3- put tea box in the stand 4- pick up the tea box 5- put numi box in stand\n\u003c/PRED\u003e","video":"15311429680615557558.mp4"}
+{"uid":"3817849238975972814","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the first drawer and grab me all items that are orange. last 20 steps: 1- open the drawer 2- place the plate on the table 3- place the roll on the table 4- place the spatula on the table 5- close the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the first drawer and grab me all items that are orange Q: immediate next step? \u003cPRED\u003eA: done\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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the first drawer and grab me all items that are orange. last 20 steps: 1- open the drawer 2- place the plate on the table 3- place the roll on the table 4- place the spatula on the table 5- close the drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15917097260627857710.mp4"}
+{"uid":"14984845827152369781","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack 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":"15204344219057668044.mp4"}
+{"uid":"16126711729014284533","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. last 20 steps: 1- place the book on the book 2- place the book on the table 3- stack the book 4- stack the book 5- Adjust the chair 6- switch off the light Q: next 5 steps? \u003cPRED\u003eA: 1- Put the curtain 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the curtain Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. last 20 steps: 1- place the book on the book 2- place the book on the table 3- stack the book 4- stack the book 5- Adjust the chair 6- switch off the light Q: immediate next step? \u003cPRED\u003eA: Put the curtain\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the curtain\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the curtain\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. Q: immediate next step? \u003cPRED\u003eA: Put the curtain\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the curtain Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1217933492771821743.mp4"}
+{"uid":"11742425430746162494","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. Q: immediate next step? \u003cPRED\u003eA: stack the book\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 book\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. last 20 steps: 1- place the book on the book 2- place the book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- stack the book 2- stack the book 3- Adjust the chair 4- switch off the light 5- Put the curtain\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the book Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 book\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. last 20 steps: 1- place the book on the book 2- place the book on the table Q: immediate next step? \u003cPRED\u003eA: stack the book\n\u003c/PRED\u003e","video":"4109396047817524276.mp4"}
+{"uid":"87218449281041292","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop knief into coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17345722766712595758.mp4"}
+{"uid":"17418324487371979524","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:success:discrete:False\u003e\nclose the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the first drawer and grab me all items that are orange. last 20 steps: 1- open the drawer 2- place the plate on the table 3- place the roll on the table 4- place the spatula on the table Q: immediate next step? \u003cPRED\u003eA: close the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the first drawer and grab me all items that are orange. last 20 steps: 1- open the drawer 2- place the plate on the table 3- place the roll on the table 4- place the spatula on the table Q: next 5 steps? \u003cPRED\u003eA: 1- close the drawer 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the first drawer and grab me all items that are orange 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":"11400369176539294838.mp4"}
+{"uid":"16262122928231097430","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the thumb pins in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4283033345725590939.mp4"}
+{"uid":"3103515845026529189","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the plastic knife 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":"551491430830921746.mp4"}
+{"uid":"17039095494079837046","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":"4654895776348226190.mp4"}
+{"uid":"13295891417774019490","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the cart 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":"17833735284046366176.mp4"}
+{"uid":"5552722526407976657","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":"6267588981023774214.mp4"}
+{"uid":"12895550000718549315","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":"14843059772443553053.mp4"}
+{"uid":"6520221010977279504","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the book\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. Q: immediate next step? \u003cPRED\u003eA: stack the book\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 book\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. last 20 steps: 1- place the book on the book 2- place the book on the table 3- stack the book Q: next 5 steps? \u003cPRED\u003eA: 1- stack the book 2- Adjust the chair 3- switch off the light 4- Put the curtain 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. last 20 steps: 1- place the book on the book 2- place the book on the table 3- stack the book Q: immediate next step? \u003cPRED\u003eA: stack the book\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the book Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7116752447487937454.mp4"}
+{"uid":"16240757957125706657","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the first drawer and grab me all items that are orange. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the drawer 2- place the plate on the table 3- place the roll on the table 4- place the spatula on the table 5- close 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the first drawer and grab me all items that are orange. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the first drawer and grab me all items that are orange Q: immediate next step? \u003cPRED\u003eA: open the drawer\n\u003c/PRED\u003e","video":"2097048167182342978.mp4"}
+{"uid":"16637698907490843323","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"16375675416001630347.mp4"}
+{"uid":"15439177289160223387","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips 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 chips 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips 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 packet on the table 3- put packet on the table 4- put packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"16385433838096807068.mp4"}
+{"uid":"9797765094977785710","text":"\u003ctask:success:discrete:True\u003e\nplace the book on the book Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 book on the book\n\u003c/PRED\u003e","video":"6925394381747345304.mp4"}
+{"uid":"6846906642030270770","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cup on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10438456990113167395.mp4"}
+{"uid":"12610604407582323890","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nswitch off the light Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: switch off the light\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. last 20 steps: 1- place the book on the book 2- place the book on the table 3- stack the book 4- stack the book 5- Adjust the chair Q: next 5 steps? \u003cPRED\u003eA: 1- switch off the light 2- Put the curtain 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nswitch off the light Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: switch off the light\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. last 20 steps: 1- place the book on the book 2- place the book on the table 3- stack the book 4- stack the book 5- Adjust the chair Q: immediate next step? \u003cPRED\u003eA: switch off the light\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. Q: immediate next step? \u003cPRED\u003eA: switch off the light\n\u003c/PRED\u003e","video":"4960419464685416868.mp4"}
+{"uid":"1959103127197100066","text":"\u003ctask:success:discrete:True\u003e\nplace the plate on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 plate on the table\n\u003c/PRED\u003e","video":"7779269921361011630.mp4"}
+{"uid":"8452056383374207681","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClean 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":"11240848222238596085.mp4"}
+{"uid":"5244274097723407647","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the first drawer and grab me all items that are orange. last 20 steps: 1- open the drawer 2- place the plate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the roll on the table 2- place the spatula on the table 3- close the drawer 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the roll on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 open the first drawer and grab me all items that are orange Q: immediate next step? \u003cPRED\u003eA: place the roll on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the roll on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the first drawer and grab me all items that are orange. last 20 steps: 1- open the drawer 2- place the plate on the table Q: immediate next step? \u003cPRED\u003eA: place the roll on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the roll on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the roll on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8017531876121591003.mp4"}
+{"uid":"14784765236981902470","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the beaded chain cord of the window Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18043950370612397643.mp4"}
+{"uid":"10574570875960924303","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"17860937161829968275.mp4"}
+{"uid":"4610192809404701976","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. Q: immediate next step? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. last 20 steps: 1- place the book on the book 2- place the book on the table 3- stack the book 4- stack the book Q: next 5 steps? \u003cPRED\u003eA: 1- Adjust the chair 2- switch off the light 3- Put the curtain 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nAdjust the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. last 20 steps: 1- place the book on the book 2- place the book on the table 3- stack the book 4- stack the book Q: immediate next step? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Adjust the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nAdjust the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7672685524744523156.mp4"}
+{"uid":"16221445173439856104","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the roll on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the roll on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"251536989719795654.mp4"}
+{"uid":"9878495408914689544","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the brown chip bag on the white table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6380228492928299499.mp4"}
+{"uid":"5360463172254304680","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black packet in the right bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9523689213730580070.mp4"}
+{"uid":"5588596705793693873","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the curtain Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. last 20 steps: 1- place the book on the book 2- place the book on the table 3- stack the book 4- stack the book 5- Adjust the chair 6- switch off the light 7- Put the curtain Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. last 20 steps: 1- place the book on the book 2- place the book on the table 3- stack the book 4- stack the book 5- Adjust the chair 6- switch off the light 7- Put the curtain Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the curtain\n\u003c/PRED\u003e","video":"11457127619092012670.mp4"}
+{"uid":"10441792386296384004","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pista in the right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7462328910869313543.mp4"}
+{"uid":"570507628857455141","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the seaweed snacks packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1469281737659309884.mp4"}
+{"uid":"7287424514686123869","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips 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 packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"17172784945924937156.mp4"}
+{"uid":"12455612551041636610","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips 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 packet on the table 2- put packet on the table 3- put packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips 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 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":"1286947863042516369.mp4"}
+{"uid":"9553341976961149009","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the book\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the book Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17371646691039362907.mp4"}
+{"uid":"3907109636102007114","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":"16237127275068310748.mp4"}
+{"uid":"5961802766848021029","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the first drawer and grab me all items that are orange. last 20 steps: 1- open the drawer 2- place the plate on the table 3- place the roll on the table Q: immediate next step? \u003cPRED\u003eA: place the spatula on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spatula on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the first drawer and grab me all items that are orange Q: immediate next step? \u003cPRED\u003eA: place the spatula on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the first drawer and grab me all items that are orange. last 20 steps: 1- open the drawer 2- place the plate on the table 3- place the roll on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the spatula on the table 2- close the drawer 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spatula on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 spatula on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 spatula on the table\n\u003c/PRED\u003e","video":"7877973759574100996.mp4"}
+{"uid":"10017721160718570789","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please open the first drawer and grab me all items that are orange. last 20 steps: 1- open the drawer Q: immediate next step? \u003cPRED\u003eA: place the plate on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the plate on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 plate on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please open the first drawer and grab me all items that are orange. last 20 steps: 1- open the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- place the plate on the table 2- place the roll on the table 3- place the spatula on the table 4- close the drawer 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the plate on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please open the first drawer and grab me all items that are orange Q: immediate next step? \u003cPRED\u003eA: place the plate on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the plate on the table\n\u003c/PRED\u003e","video":"16339315183797309282.mp4"}
+{"uid":"2736889913877192566","text":"\u003ctask:success:discrete:True\u003e\nplace the spatula on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 spatula on the table\n\u003c/PRED\u003e","video":"13666891089044966846.mp4"}
+{"uid":"6506118342225033653","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips 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 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips 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 packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"13067965046632702977.mp4"}
+{"uid":"6965980648079663789","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips 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 packet on the table 9- put packet on the table 10- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips 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 packet on the table 9- put packet on the table 10- put packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17007365694823478551.mp4"}
+{"uid":"12136437641353296916","text":"\u003ctask:success:discrete:False\u003e\nplace the book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. last 20 steps: 1- place the book on the book Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. last 20 steps: 1- place the book on the book Q: next 5 steps? \u003cPRED\u003eA: 1- place the book on the table 2- stack the book 3- stack the book 4- Adjust the chair 5- switch off the light\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e","video":"3237914700770996245.mp4"}
+{"uid":"3876977873373297402","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: none 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:success:discrete:False\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips 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 chips from the tray. last 20 steps: none 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":"17791302769091941530.mp4"}
+{"uid":"17728789949342944554","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nleave 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":"10081601013912361185.mp4"}
+{"uid":"1276931796557197145","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips 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 packet on the table 9- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips 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 chips 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 packet on the table 9- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"910058183951662186.mp4"}
+{"uid":"7010458652701389117","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips 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: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: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips 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":"7316590564851241146.mp4"}
+{"uid":"16541138639977309391","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":"14680010269928854281.mp4"}
+{"uid":"13920526817471686400","text":"\u003ctask:success:discrete:True\u003e\nstack the book Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the book\n\u003c/PRED\u003e","video":"4523053186149020191.mp4"}
+{"uid":"12488046869213497147","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips 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 packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips 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:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"2603469957049328253.mp4"}
+{"uid":"5144098815327517055","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book on the book\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. Q: immediate next step? \u003cPRED\u003eA: place the book on the book\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the book on the book 2- place the book on the table 3- stack the book 4- stack the book 5- Adjust the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book on the book\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please clean the library area, turn off the desk lamp and close the window blinds. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the book on the book\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the book on the book Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 book on the book Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3926701105038828718.mp4"}
+{"uid":"3133151906247828769","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips 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\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips 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","video":"4197596978520811606.mp4"}
+{"uid":"4374506456025020642","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a 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":"12456251228126228712.mp4"}
+{"uid":"13850084303487435006","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips 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 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:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips 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","video":"12389628091503609094.mp4"}
+{"uid":"2368145657413097088","text":"\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"12406086647085768083.mp4"}
+{"uid":"4794301967448946943","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":"4585281289946368052.mp4"}
+{"uid":"8893649325683442245","text":"\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"15464672922263022829.mp4"}
+{"uid":"767251139076322620","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the packet on 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":"5431901333631003143.mp4"}
+{"uid":"3150941673678778681","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop orange into jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop orange 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar Q: next 5 steps? \u003cPRED\u003eA: 1- drop orange into jar 2- drop apple into jar 3- drop apple into jar 4- Put the apple in the jar 5- drop apple into jar\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop orange into jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop orange into jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: drop orange into jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop orange 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar Q: immediate next step? \u003cPRED\u003eA: drop orange into jar\n\u003c/PRED\u003e","video":"4525783182066833620.mp4"}
+{"uid":"189876815881253007","text":"\u003ctask:success:discrete:True\u003e\ndrop apple 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: drop apple into jar\n\u003c/PRED\u003e","video":"8462422622224053891.mp4"}
+{"uid":"14805525110914503905","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":"13699483730346979793.mp4"}
+{"uid":"7928442261537342321","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow packet in the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3325663270428321600.mp4"}
+{"uid":"2806461257360441523","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chess coin in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6452807021528921488.mp4"}
+{"uid":"11831185370751724218","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar 8- drop orange into jar 9- Put the apple in the jar 10- drop orange into jar 11- Go to the apple on the floor Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fruit in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the fruit in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar 8- drop orange into jar 9- Put the apple in the jar 10- drop orange into jar 11- Go to the apple on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- put the fruit in the jar 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e","video":"14200736101894803244.mp4"}
+{"uid":"6055202490205530924","text":"\u003ctask:success:discrete:True\u003e\nput the fruit in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e","video":"12943793439816917778.mp4"}
+{"uid":"2896575061318212854","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":"2298061571164722407.mp4"}
+{"uid":"7602247469991732597","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pear in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pear in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the pear in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar Q: immediate next step? \u003cPRED\u003eA: Put the pear in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pear in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear in the jar 2- put the fruit in the jar 3- drop orange into jar 4- Put the apple in the jar 5- drop orange into jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pear in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3386647115644249713.mp4"}
+{"uid":"14755071569056799086","text":"\u003ctask:success:discrete:True\u003e\nPut the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar 8- drop orange into jar 9- Put the apple in the jar 10- drop orange into jar 11- Go to the apple on the floor 12- Put the apple in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar 8- drop orange into jar 9- Put the apple in the jar 10- drop orange into jar 11- Go to the apple on the floor 12- Put the apple in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1239376497054425335.mp4"}
+{"uid":"3611550412288875877","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":"10941241702690582572.mp4"}
+{"uid":"1656612703908939658","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar 8- drop orange into jar 9- Put the apple in the jar Q: immediate next step? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar 8- drop orange into jar 9- Put the apple in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the jar 2- Go to the apple on the floor 3- drop apple into jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e","video":"12456607370303502425.mp4"}
+{"uid":"9064186029578785942","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black pen in the red pens 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":"4550931566346723149.mp4"}
+{"uid":"47630576753713081","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8721815006877673305.mp4"}
+{"uid":"8979543409273916585","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the jar 2- drop orange into jar 3- Put the apple in the jar 4- drop orange into jar 5- Go to the apple on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar Q: immediate next step? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e","video":"14517466299400488056.mp4"}
+{"uid":"3352961620851323500","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":"16351120741499918630.mp4"}
+{"uid":"4542188869755666913","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":"4518588983498930768.mp4"}
+{"uid":"6459141706857321444","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fruit in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the fruit in the jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the fruit in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e","video":"194268369737853643.mp4"}
+{"uid":"15850670204228905103","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar 8- drop orange into jar 9- Put the apple in the jar 10- drop orange into jar 11- Go to the apple on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the jar 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar 8- drop orange into jar 9- Put the apple in the jar 10- drop orange into jar 11- Go to the apple on the floor Q: immediate next step? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e","video":"12276150838626287322.mp4"}
+{"uid":"1092159459744477617","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar 8- drop orange into jar 9- Put the apple in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- drop orange into jar 2- Go to the apple on the floor 3- drop apple into jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop orange 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: drop orange into jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop orange 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:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: drop orange into jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar 8- drop orange into jar 9- Put the apple in the jar Q: immediate next step? \u003cPRED\u003eA: drop orange into jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop orange into jar\n\u003c/PRED\u003e","video":"3338381199815931802.mp4"}
+{"uid":"14333339816336044762","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":"17342157392340840292.mp4"}
+{"uid":"5172538682420281906","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar 8- drop orange into jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the fruit in the jar 2- drop orange into jar 3- Go to the apple on the floor 4- drop apple into jar 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fruit in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar 8- drop orange into jar Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e","video":"8658920527339442787.mp4"}
+{"uid":"13897489811360551261","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sugar packets in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1879188039893092719.mp4"}
+{"uid":"497001868389786320","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chocolate balls in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13465031676315074783.mp4"}
+{"uid":"18264122725696558253","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the black pebble into the right transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1265415612781602022.mp4"}
+{"uid":"5252182026187905610","text":"\u003ctask:success:discrete:True\u003e\ndrop orange 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: drop orange into jar\n\u003c/PRED\u003e","video":"15168912582284312838.mp4"}
+{"uid":"2853038728996993058","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e","video":"12721886000607683013.mp4"}
+{"uid":"8618499770781929909","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the brush 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":"8136247872210346925.mp4"}
+{"uid":"13134311956209111893","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the apple on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Go to the apple on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the apple 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: Go to the apple on the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar 8- drop orange into jar 9- Put the apple in the jar 10- drop orange into jar Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the apple on the floor 2- drop apple into jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the apple on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar 8- drop orange into jar 9- Put the apple in the jar 10- drop orange into jar Q: immediate next step? \u003cPRED\u003eA: Go to the apple on the floor\n\u003c/PRED\u003e","video":"5835241709700439900.mp4"}
+{"uid":"10360039149680463922","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":"18176427355778397617.mp4"}
+{"uid":"4132536135554173455","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":"2579725850473198490.mp4"}
+{"uid":"18108104765835299492","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the fruit in the jar 2- Put the apple in the jar 3- drop orange into jar 4- Go to the apple on the floor 5- drop apple into jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fruit in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e","video":"1456966461877091026.mp4"}
+{"uid":"672060343816919862","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":"5941009875057663615.mp4"}
+{"uid":"12280040598652054251","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow marker 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":"10454087511198411693.mp4"}
+{"uid":"5510394038510909238","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":"5483427431709443760.mp4"}
+{"uid":"16431207386253111469","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar Q: immediate next step? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the jar 2- Put the apple in the jar 3- drop orange into jar 4- Go to the apple on the floor 5- drop apple into jar\n\u003c/PRED\u003e","video":"14636058031090808759.mp4"}
+{"uid":"6973957774354165263","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the fruit in the jar 2- drop orange into jar 3- Put the apple in the jar 4- drop orange into jar 5- Go to the apple on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fruit in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e","video":"7905363484969829677.mp4"}
+{"uid":"5873519818158204132","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":"5031505224691202420.mp4"}
+{"uid":"17479481935757034026","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar Q: immediate next step? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the jar 2- drop apple into jar 3- put the fruit in the jar 4- drop orange into jar 5- Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e","video":"10402258464316464194.mp4"}
+{"uid":"7492074642404463030","text":"\u003ctask:success:discrete:False\u003e\ndrop orange 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar Q: immediate next step? \u003cPRED\u003eA: drop orange into jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop orange into jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- drop orange into jar 2- Put the apple in the jar 3- drop orange into jar 4- Go to the apple on the floor 5- drop apple into jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop orange 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: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: drop orange into jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop orange into jar\n\u003c/PRED\u003e","video":"11502120326522313803.mp4"}
+{"uid":"17385356540981961258","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fruit in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the fruit in the jar 2- drop apple into jar 3- drop apple into jar 4- Put the apple in the jar 5- drop apple into jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e","video":"9008152054100428503.mp4"}
+{"uid":"13570661817322855163","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the jar 2- drop apple into jar 3- drop apple into jar 4- Put the apple in the jar 5- drop apple into jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar Q: immediate next step? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e","video":"8096110628075116250.mp4"}
+{"uid":"1301553274388218996","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple into jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar 8- drop orange into jar 9- Put the apple in the jar 10- drop orange into jar 11- Go to the apple on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple into jar 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: drop apple into jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop apple 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: drop apple into jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar 8- drop orange into jar 9- Put the apple in the jar 10- drop orange into jar 11- Go to the apple on the floor Q: immediate next step? \u003cPRED\u003eA: drop apple into jar\n\u003c/PRED\u003e","video":"10621872370612271666.mp4"}
+{"uid":"14142815749749390502","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7292632496810855637.mp4"}
+{"uid":"4946910457102440347","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":"7581647160897222384.mp4"}
+{"uid":"10830093379071094980","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17083084974925132720.mp4"}
+{"uid":"2273780223190445683","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar 8- drop orange into jar 9- Put the apple in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the fruit in the jar 2- Go to the apple on the floor 3- drop apple into jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fruit in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar 8- drop orange into jar 9- Put the apple in the jar Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e","video":"1382828900191772068.mp4"}
+{"uid":"17217625241572323639","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop apple into jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop apple 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":"10947796988709514831.mp4"}
+{"uid":"14207607471987563251","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the fruit in the jar 2- Put the apple in the jar 3- drop apple into jar 4- put the fruit in the jar 5- drop orange into jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fruit in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e","video":"2989843780979792277.mp4"}
+{"uid":"8932789735983182241","text":"\u003ctask:success:discrete:False\u003e\ndrop apple 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:affordance:discriminative:discrete:True\u003e\ndrop apple 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple into jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple into jar 2- drop apple into jar 3- put the fruit in the jar 4- drop orange into jar 5- Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: drop apple into jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar Q: immediate next step? \u003cPRED\u003eA: drop apple into jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple into jar\n\u003c/PRED\u003e","video":"3109953993873489437.mp4"}
+{"uid":"11921447042486177550","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":"10962948749597229002.mp4"}
+{"uid":"431890815753071124","text":"\u003ctask:success:discrete:False\u003e\ndrop apple 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple into jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: drop apple into jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar Q: immediate next step? \u003cPRED\u003eA: drop apple into jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple into jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple into jar 2- drop apple into jar 3- Put the apple in the jar 4- drop apple into jar 5- put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple 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","video":"80568587911959748.mp4"}
+{"uid":"5237480344529066620","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar 8- drop orange into jar 9- Put the apple in the jar 10- drop orange into jar 11- Go to the apple on the floor 12- drop apple into jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar 8- drop orange into jar 9- Put the apple in the jar 10- drop orange into jar 11- Go to the apple on the floor 12- put the fruit in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar 8- drop orange into jar 9- Put the apple in the jar 10- drop orange into jar 11- Go to the apple on the floor 12- drop apple into jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop apple into jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop apple 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:success:discrete:True\u003e\nput the fruit in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar 8- drop orange into jar 9- Put the apple in the jar 10- drop orange into jar 11- Go to the apple on the floor 12- put the fruit in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"1400303094161224.mp4"}
+{"uid":"12359159601050197891","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":"18149012495540902878.mp4"}
+{"uid":"10557115661555597569","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the plastic box 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":"7834099240953129155.mp4"}
+{"uid":"18052706639120586108","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":"9016311652952506303.mp4"}
+{"uid":"5206781610129567631","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the jar 2- Put the apple in the jar 3- drop apple into jar 4- put the fruit in the jar 5- drop orange into jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar Q: immediate next step? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e","video":"5200533410661847501.mp4"}
+{"uid":"7152625213813897787","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":"9336481707860723815.mp4"}
+{"uid":"14752744318156258482","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar 8- drop orange into jar Q: immediate next step? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar 6- drop apple into jar 7- put the fruit in the jar 8- drop orange into jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the jar 2- drop orange into jar 3- Go to the apple on the floor 4- drop apple into jar 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e","video":"1117196970924178029.mp4"}
+{"uid":"4974170549912274189","text":"\u003ctask:success:discrete:False\u003e\nput the fruit in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fruit in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the fruit in the jar 2- put the fruit in the jar 3- drop orange into jar 4- Put the apple in the jar 5- drop orange into jar\n\u003c/PRED\u003e","video":"4629742189320875056.mp4"}
+{"uid":"12129453804057791505","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: drop apple into jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple 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:success:discrete:False\u003e\ndrop apple 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: drop apple into jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop apple into jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple into jar 2- Put the apple in the jar 3- drop apple into jar 4- put the fruit in the jar 5- drop orange into jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar Q: immediate next step? \u003cPRED\u003eA: drop apple into jar\n\u003c/PRED\u003e","video":"4857699565974269788.mp4"}
+{"uid":"4508109460194756043","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the snacks 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":"7625472570475617201.mp4"}
+{"uid":"10713011421882376016","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- drop apple into jar 2- put the fruit in the jar 3- drop orange into jar 4- Put the apple in the jar 5- drop orange into jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: drop apple into jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop apple 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: drop apple into jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop apple into jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar Q: immediate next step? \u003cPRED\u003eA: drop apple into jar\n\u003c/PRED\u003e","video":"13347138328489875243.mp4"}
+{"uid":"17521699395849351594","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":"3022465110317279968.mp4"}
+{"uid":"12243920024663984635","text":"\u003ctask:success:discrete:True\u003e\nPut the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e","video":"17529888777919939931.mp4"}
+{"uid":"6984924698266866650","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the fruit in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put the fruits into the jar. last 20 steps: 1- drop orange into jar 2- drop orange into jar 3- drop apple into jar 4- drop apple into jar 5- Put the apple in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the fruit in the jar 2- put the fruit in the jar 3- drop orange into jar 4- Put the apple in the jar 5- drop orange into jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the fruit in the jar\n\u003c/PRED\u003e","video":"9646444514848566101.mp4"}
+{"uid":"6141433231873594335","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9506390200880877084.mp4"}
+{"uid":"4643523893091113943","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl 3- put bottle in the stand 4- put sponge brush in the stand 5- put sponge in the stand 6- put cups in the stand 7- stack the cups 8- put cups in the stand 9- stack the cups 10- stack the cups 11- put cups in the stand 12- stack the cups Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl 3- put bottle in the stand 4- put sponge brush in the stand 5- put sponge in the stand 6- put cups in the stand 7- stack the cups 8- put cups in the stand 9- stack the cups 10- stack the cups 11- put cups in the stand 12- stack the cups Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cups 2- put cups in the stand 3- stack the cups 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e","video":"15858440271819365551.mp4"}
+{"uid":"17940956416746060952","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput cups 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 kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl 3- put bottle in the stand 4- put sponge brush in the stand 5- put sponge in the stand 6- put cups in the stand 7- stack the cups 8- put cups in the stand 9- stack the cups 10- stack the cups 11- put cups in the stand 12- stack the cups 13- stack the cups Q: immediate next step? \u003cPRED\u003eA: put cups in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cups in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: put cups in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl 3- put bottle in the stand 4- put sponge brush in the stand 5- put sponge in the stand 6- put cups in the stand 7- stack the cups 8- put cups in the stand 9- stack the cups 10- stack the cups 11- put cups in the stand 12- stack the cups 13- stack the cups Q: next 5 steps? \u003cPRED\u003eA: 1- put cups in the stand 2- stack the cups 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cups in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cups 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":"2766618479475246659.mp4"}
+{"uid":"12446403060001286037","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put bottle in the stand 2- put sponge brush in the stand 3- put sponge in the stand 4- put cups in the stand 5- stack the cups\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put bottle in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put bottle in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput bottle 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 kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: put bottle in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl Q: immediate next step? \u003cPRED\u003eA: put bottle in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput bottle 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":"15004875805958540444.mp4"}
+{"uid":"5885480656485442340","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":"4494421871350000977.mp4"}
+{"uid":"12346372354190281827","text":"\u003ctask:success:discrete:False\u003e\nkeep the goodies on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep the goodies on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 goodies on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: keep the goodies on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer 5- Open the top right drawer 6- Open the right middle drawer Q: next 5 steps? \u003cPRED\u003eA: 1- keep the goodies on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the goodies on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer 5- Open the top right drawer 6- Open the right middle drawer Q: immediate next step? \u003cPRED\u003eA: keep the goodies on the table\n\u003c/PRED\u003e","video":"1676179475850474118.mp4"}
+{"uid":"5693467883793124650","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer 5- Open the top right drawer Q: immediate next step? \u003cPRED\u003eA: Pick up packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: Pick up packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer 5- Open the top right drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up packet 2- Take the apple and candy to room 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up 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:True\u003e\nopen right middle 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:success:discrete:False\u003e\nPick up 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 packet\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open right middle drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up packet\n\u003c/PRED\u003e","video":"6461434257317759138.mp4"}
+{"uid":"10662218776198874527","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer Q: immediate next step? \u003cPRED\u003eA: Open middle drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Open middle drawer 2- Open the top right drawer 3- Open the right middle drawer 4- Take the apple and candy to room 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: Open middle drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open middle drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen middle 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 middle 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 middle drawer\n\u003c/PRED\u003e","video":"2428290402877727329.mp4"}
+{"uid":"10112248929027963570","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":"4444443685028698837.mp4"}
+{"uid":"16514851820012865587","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":"721750787892778170.mp4"}
+{"uid":"11388499244076820029","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open top drawer 2- Close top drawer 3- Open the middle drawer 4- Open the top right drawer 5- Open the right middle drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: none 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:planning:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: Open 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","video":"6084511888390179262.mp4"}
+{"uid":"11717961746754567374","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer Q: immediate next step? \u003cPRED\u003eA: Close top drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: Close top drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close top drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose 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: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close top drawer 2- Open the top right drawer 3- Open the right middle drawer 4- Take the apple and candy to room 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose 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":"14777835147099828362.mp4"}
+{"uid":"247487390437342774","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":"12282443376864659244.mp4"}
+{"uid":"14041909770934354895","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\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":"6003883548709763114.mp4"}
+{"uid":"12657688520567358161","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go to drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGo to 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":"688821892964012886.mp4"}
+{"uid":"9354896425071044289","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white chocolate ball inside 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":"9526072269950976430.mp4"}
+{"uid":"14412310724295304424","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue packet into the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5456214761832926032.mp4"}
+{"uid":"10076786340277537583","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl 3- put bottle in the stand 4- put sponge brush in the stand 5- put sponge in the stand 6- put cups in the stand 7- stack the cups 8- put cups in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cups 2- stack the cups 3- put cups in the stand 4- stack the cups 5- stack the cups\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl 3- put bottle in the stand 4- put sponge brush in the stand 5- put sponge in the stand 6- put cups in the stand 7- stack the cups 8- put cups in the stand Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e","video":"17062555416991530343.mp4"}
+{"uid":"18028900434990625855","text":"\u003ctask:success:discrete:True\u003e\nstack the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e","video":"15056516115504466613.mp4"}
+{"uid":"5925293578093776643","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red pouch in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17396715659350836200.mp4"}
+{"uid":"1956792134809130054","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":"2240626972604898918.mp4"}
+{"uid":"9601392966293099527","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the second drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: open the second drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer Q: immediate next step? \u003cPRED\u003eA: open the second drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the second 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 second drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the second drawer 2- Open the middle drawer 3- Open the top right drawer 4- Open the right middle drawer 5- Take the apple and candy to room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the second 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":"1841378924929781212.mp4"}
+{"uid":"14191128565777395727","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: open right middle drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer 5- Open the top right drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open right middle drawer 2- Take the apple and candy to room 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen right middle 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 right middle 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 right middle drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open right middle drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer 5- Open the top right drawer Q: immediate next step? \u003cPRED\u003eA: open right middle drawer\n\u003c/PRED\u003e","video":"13691804180110500376.mp4"}
+{"uid":"273808956983232826","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":"7800863206644999454.mp4"}
+{"uid":"10706564174293996536","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7844046618023521403.mp4"}
+{"uid":"7831092973589660702","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the brown candy in the left 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":"11723714245646749687.mp4"}
+{"uid":"5291197353265071453","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":"5915791514523785113.mp4"}
+{"uid":"4313631211696997926","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease 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":"13511103769283810167.mp4"}
+{"uid":"7245315469197489290","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":"5931078724572724787.mp4"}
+{"uid":"9336402488613392174","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sanitizer bottle 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":"1681359347699247446.mp4"}
+{"uid":"1812602773981532807","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16393915976779937145.mp4"}
+{"uid":"268576028151573613","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the silver object 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":"8065074232403181247.mp4"}
+{"uid":"18374017615747194167","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl 3- put bottle in the stand 4- put sponge brush in the stand 5- put sponge in the stand 6- put cups in the stand 7- stack the cups 8- put cups in the stand 9- stack the cups Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cups 2- put cups in the stand 3- stack the cups 4- stack the cups 5- put cups in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl 3- put bottle in the stand 4- put sponge brush in the stand 5- put sponge in the stand 6- put cups in the stand 7- stack the cups 8- put cups in the stand 9- stack the cups Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e","video":"17284510291009704629.mp4"}
+{"uid":"13308735680372552170","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the paper cup on 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":"167236195760674574.mp4"}
+{"uid":"5502684303975081462","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: Open the top right drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the top right 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 top right drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer Q: immediate next step? \u003cPRED\u003eA: Open the top right drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the top right drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Open the top right drawer 2- Take the apple and candy to room 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the top right 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":"1780818229452874785.mp4"}
+{"uid":"17056242885294056668","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open middle drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen middle 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":"4153469868962587947.mp4"}
+{"uid":"11403803517353955593","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl 3- put bottle in the stand 4- put sponge brush in the stand Q: immediate next step? \u003cPRED\u003eA: put sponge in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput sponge 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 kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: put sponge in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sponge in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput sponge 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 kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl 3- put bottle in the stand 4- put sponge brush in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put sponge in the stand 2- put cups in the stand 3- stack the cups 4- put cups in the stand 5- stack the cups\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sponge in the stand\n\u003c/PRED\u003e","video":"10183155582608798514.mp4"}
+{"uid":"3976479810491585821","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open top right drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen top right 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 bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Open top right drawer 2- Open the right middle drawer 3- Take the apple and candy to room 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer Q: immediate next step? \u003cPRED\u003eA: Open top right drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open top right drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: Open top right drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen top right 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":"17142451553019932508.mp4"}
+{"uid":"16136354736305594162","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nClose middle 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 bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer Q: immediate next step? \u003cPRED\u003eA: Close middle drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close middle drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose middle 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 bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close middle drawer 2- Open the right middle drawer 3- Take the apple and candy to room 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: Close middle drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close middle drawer\n\u003c/PRED\u003e","video":"739311291507621351.mp4"}
+{"uid":"14411935273640533925","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the middle drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen the middle 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":"11835446266076560150.mp4"}
+{"uid":"14647554016547009703","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":"12444530000296022702.mp4"}
+{"uid":"7580607335548791193","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":"5071462614235219616.mp4"}
+{"uid":"4580992878230734685","text":"\u003ctask:success:discrete:True\u003e\nGo to drawers Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 drawers\n\u003c/PRED\u003e","video":"432172486074918158.mp4"}
+{"uid":"8853484954885197066","text":"\u003ctask:success:discrete:False\u003e\nMove arm 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: please bring an apple and a candy to me in the meeting room. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move arm left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move arm left 2- Open top drawer 3- Close top drawer 4- Open the middle drawer 5- Open the top right drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move arm left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove arm 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: please bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: Move arm left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move arm left\n\u003c/PRED\u003e","video":"5579833063609361067.mp4"}
+{"uid":"1939593561351135481","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer 5- Open the top right drawer 6- Take the apple and candy to room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nTake the apple and candy to 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:planning:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Take the apple and candy to room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer 5- Open the top right drawer 6- Take the apple and candy to room Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"1750173242614951679.mp4"}
+{"uid":"7986938311384189393","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the envelope in the left of the transparent tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7996166647202051744.mp4"}
+{"uid":"14772834694009800336","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take the apple and candy to room\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Take the apple and candy to room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer 5- Open the top right drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Take the apple and candy to room 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake the apple and candy to room Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: Take the apple and candy to room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake the apple and candy to room Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer 5- Open the top right drawer Q: immediate next step? \u003cPRED\u003eA: Take the apple and candy to room\n\u003c/PRED\u003e","video":"11082280403705403644.mp4"}
+{"uid":"8280090817054511483","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer 5- Open the right middle drawer Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer 5- Open the right middle drawer Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen the right middle 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 right middle drawer\n\u003c/PRED\u003e","video":"1096740543591489881.mp4"}
+{"uid":"4982942764947276932","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow marker 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":"3887862920374335503.mp4"}
+{"uid":"4669160818977812702","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput brush in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put brush in the bowl 2- put bottle in the stand 3- put sponge brush in the stand 4- put sponge in the stand 5- put cups in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: put brush in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put brush in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput brush 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 kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand Q: immediate next step? \u003cPRED\u003eA: put brush in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put brush in the bowl\n\u003c/PRED\u003e","video":"15458779624963672222.mp4"}
+{"uid":"11668933848078898382","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":"17163178489331775575.mp4"}
+{"uid":"7187988731734044401","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cups in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cups 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 kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl 3- put bottle in the stand 4- put sponge brush in the stand 5- put sponge in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put cups in the stand 2- stack the cups 3- put cups in the stand 4- stack the cups 5- stack the cups\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: put cups in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl 3- put bottle in the stand 4- put sponge brush in the stand 5- put sponge in the stand Q: immediate next step? \u003cPRED\u003eA: put cups in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cups 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 cups in the stand\n\u003c/PRED\u003e","video":"11100013291464240481.mp4"}
+{"uid":"6359799650743198995","text":"\u003ctask:success:discrete:False\u003e\nput sponge brush in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl 3- put bottle in the stand Q: immediate next step? \u003cPRED\u003eA: put sponge brush in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put sponge brush in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put sponge brush in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl 3- put bottle in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put sponge brush in the stand 2- put sponge in the stand 3- put cups in the stand 4- stack the cups 5- put cups in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: put sponge brush in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput sponge brush 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":"1348191093856749981.mp4"}
+{"uid":"7426319921889478003","text":"\u003ctask:success:discrete:False\u003e\nput cups 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 cups in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cups in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: put cups in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl 3- put bottle in the stand 4- put sponge brush in the stand 5- put sponge in the stand 6- put cups in the stand 7- stack the cups Q: next 5 steps? \u003cPRED\u003eA: 1- put cups in the stand 2- stack the cups 3- stack the cups 4- put cups in the stand 5- stack the cups\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cups in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl 3- put bottle in the stand 4- put sponge brush in the stand 5- put sponge in the stand 6- put cups in the stand 7- stack the cups Q: immediate next step? \u003cPRED\u003eA: put cups in the stand\n\u003c/PRED\u003e","video":"7165952260415385390.mp4"}
+{"uid":"12126090609336420328","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room Q: immediate next step? \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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the top drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open the top drawer 2- Open the middle drawer 3- Open the top right drawer 4- Open the right middle drawer 5- Take the apple and candy to room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the top drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open the top drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14163203042791372300.mp4"}
+{"uid":"12575941539139497306","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl 3- put bottle in the stand 4- put sponge brush in the stand 5- put sponge in the stand 6- put cups in the stand 7- stack the cups 8- put cups in the stand 9- stack the cups 10- stack the cups Q: immediate next step? \u003cPRED\u003eA: put cups in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl 3- put bottle in the stand 4- put sponge brush in the stand 5- put sponge in the stand 6- put cups in the stand 7- stack the cups 8- put cups in the stand 9- stack the cups 10- stack the cups Q: next 5 steps? \u003cPRED\u003eA: 1- put cups in the stand 2- stack the cups 3- stack the cups 4- put cups in the stand 5- stack the cups\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cups in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cups in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: put cups in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put cups in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cups 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":"7968478386305310703.mp4"}
+{"uid":"17781902382280918269","text":"\u003ctask:success:discrete:True\u003e\nopen the third 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 third drawer\n\u003c/PRED\u003e","video":"2049145444535180617.mp4"}
+{"uid":"15856771949413531217","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop brown 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":"14496873157862320918.mp4"}
+{"uid":"4895325521067073536","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl 3- put bottle in the stand 4- put sponge brush in the stand 5- put sponge in the stand 6- put cups in the stand 7- stack the cups 8- put cups in the stand 9- stack the cups 10- stack the cups 11- put cups in the stand Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl 3- put bottle in the stand 4- put sponge brush in the stand 5- put sponge in the stand 6- put cups in the stand 7- stack the cups 8- put cups in the stand 9- stack the cups 10- stack the cups 11- put cups in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cups 2- stack the cups 3- put cups in the stand 4- stack the cups 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e","video":"1321518273145069190.mp4"}
+{"uid":"3651469561786532429","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the first 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 first drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the first drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: open the first drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the first drawer 2- Open the middle drawer 3- Open the top right drawer 4- Open the right middle drawer 5- Take the apple and candy to room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer Q: immediate next step? \u003cPRED\u003eA: open the first drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the first 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":"1254412526503829737.mp4"}
+{"uid":"15465782887729737231","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":"2696086041482910659.mp4"}
+{"uid":"17594629838182865457","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork 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":"10492864886431599568.mp4"}
+{"uid":"1644920001291132305","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: open the fourth drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the fourth drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the fourth 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 bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the fourth drawer 2- Take the apple and candy to room 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer Q: immediate next step? \u003cPRED\u003eA: open the fourth drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the fourth drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the fourth 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":"6506023223757233999.mp4"}
+{"uid":"15036734833324731731","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"11730943344817278080.mp4"}
+{"uid":"16351489429607272038","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a pink packet inside the organizer box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13670563675313413374.mp4"}
+{"uid":"15653714042417463569","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl 3- put bottle in the stand 4- put sponge brush in the stand 5- put sponge in the stand 6- put cups in the stand 7- stack the cups 8- put cups in the stand 9- stack the cups 10- stack the cups 11- put cups in the stand 12- stack the cups 13- stack the cups 14- put cups in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cups 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl 3- put bottle in the stand 4- put sponge brush in the stand 5- put sponge in the stand 6- put cups in the stand 7- stack the cups 8- put cups in the stand 9- stack the cups 10- stack the cups 11- put cups in the stand 12- stack the cups 13- stack the cups 14- put cups in the stand Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e","video":"1598235399075696057.mp4"}
+{"uid":"217205438096987723","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ntake the candy to the apple Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take the candy to the apple\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer 5- Open the top right drawer Q: immediate next step? \u003cPRED\u003eA: take the candy to the apple\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: take the candy to the apple\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntake the candy to the apple Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: take the candy to the apple\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer 5- Open the top right drawer Q: next 5 steps? \u003cPRED\u003eA: 1- take the candy to the apple 2- Take the apple and candy to room 3- done\n\u003c/PRED\u003e","video":"1190522968716740497.mp4"}
+{"uid":"3482504198507819301","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close top right drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose top right 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 top right drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer Q: immediate next step? \u003cPRED\u003eA: Close top right drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close top right drawer 2- Take the apple and candy to room 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: Close top right drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose top right 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":"6154096879028919170.mp4"}
+{"uid":"5455931572841804489","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the scoop in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4984935479913183476.mp4"}
+{"uid":"8447587128355239872","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":"15280227480492324517.mp4"}
+{"uid":"14475003522358627596","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nkeep the goodies on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer 5- Open the top right drawer 6- Open the right middle drawer Q: next 5 steps? \u003cPRED\u003eA: 1- keep the goodies on the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nkeep the goodies on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer 5- Open the top right drawer 6- Open the right middle drawer Q: immediate next step? \u003cPRED\u003eA: keep the goodies on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: keep the goodies on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: keep the goodies on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: keep the goodies on the table\n\u003c/PRED\u003e","video":"17889887823340514046.mp4"}
+{"uid":"16448164334359499033","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":"7157711676427613301.mp4"}
+{"uid":"7112276839847684962","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green marker in glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1158713136874730556.mp4"}
+{"uid":"13414744864957455969","text":"\u003ctask:success:discrete:False\u003e\nopen the third 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 bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the third drawer 2- Open the right middle drawer 3- Take the apple and candy to room 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the third drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the third 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 third drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: open the third drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer Q: immediate next step? \u003cPRED\u003eA: open the third drawer\n\u003c/PRED\u003e","video":"2769910982813167850.mp4"}
+{"uid":"1135862570514050475","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick a 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":"14005034197247131049.mp4"}
+{"uid":"8117178821001389123","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16197968338150307027.mp4"}
+{"uid":"4942462781320803859","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":"6385877437242993543.mp4"}
+{"uid":"5038377491641638947","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plate 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":"7425544552373285935.mp4"}
+{"uid":"8057505353924948739","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl 3- put bottle in the stand 4- put sponge brush in the stand 5- put sponge in the stand 6- put cups in the stand Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: 1- put bowl on the stand 2- put brush in the bowl 3- put bottle in the stand 4- put sponge brush in the stand 5- put sponge in the stand 6- put cups in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cups 2- put cups in the stand 3- stack the cups 4- stack the cups 5- put cups in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8508230314332956936.mp4"}
+{"uid":"6221153480908911418","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nAdjust the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14010565233647581993.mp4"}
+{"uid":"15370915029204575219","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the second drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- open the second drawer 2- Open the top right drawer 3- Open the right middle drawer 4- Take the apple and candy to room 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer Q: immediate next step? \u003cPRED\u003eA: open the second drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the second 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 second 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 second drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: open the second drawer\n\u003c/PRED\u003e","video":"1878063649221436565.mp4"}
+{"uid":"11141084384871274987","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Take apple and packet to  the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer 5- Open the top right drawer 6- Open the right middle drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Take apple and packet to  the room 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer 5- Open the top right drawer 6- Open the right middle drawer Q: immediate next step? \u003cPRED\u003eA: Take apple and packet to  the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nTake apple and packet 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: Take apple and packet to  the room\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: Take apple and packet to  the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nTake apple and packet 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","video":"2272404345991216262.mp4"}
+{"uid":"12306344822710097524","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the top right drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen the top right 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":"3617102171666791144.mp4"}
+{"uid":"9387040662909445312","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open top drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen 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":"8828606275043941727.mp4"}
+{"uid":"5138213019763880286","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16101366408294692672.mp4"}
+{"uid":"13061597059929049471","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"5513918631714436006.mp4"}
+{"uid":"18152176053999011440","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":"17865784106423768668.mp4"}
+{"uid":"15565653773057726972","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Open the middle drawer 2- Open the right middle drawer 3- Take the apple and candy to room 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the middle 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 middle drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the middle 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 bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer Q: immediate next step? \u003cPRED\u003eA: Open the middle drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the middle drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: Open the middle drawer\n\u003c/PRED\u003e","video":"2177331517103954475.mp4"}
+{"uid":"14217518547179922748","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Open the right middle drawer 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the right middle drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: Open the right middle drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the right middle 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 right middle drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the right middle 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 bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer Q: immediate next step? \u003cPRED\u003eA: Open the right middle drawer\n\u003c/PRED\u003e","video":"3027737514868137911.mp4"}
+{"uid":"2930674211817400026","text":"\u003ctask:success:discrete:False\u003e\nClose middle right 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 bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: Close middle right drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close middle right drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer 5- Open the top right drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close middle right drawer 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer 5- Open the top right drawer Q: immediate next step? \u003cPRED\u003eA: Close middle right drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose middle right 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 middle right drawer\n\u003c/PRED\u003e","video":"9362404560463467310.mp4"}
+{"uid":"9759634534052585792","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: take the candy to the apple\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: take the candy to the apple\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ntake the candy to the apple Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 candy to the apple\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer 5- Open the top right drawer 6- Open the right middle drawer Q: immediate next step? \u003cPRED\u003eA: take the candy to the apple\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ntake the candy to the apple Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer 5- Open the top right drawer 6- Open the right middle drawer Q: next 5 steps? \u003cPRED\u003eA: 1- take the candy to the apple 2- done\n\u003c/PRED\u003e","video":"9990033940738174466.mp4"}
+{"uid":"5011411698169792258","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the fourth drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the fourth 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":"11431424949017432455.mp4"}
+{"uid":"14627557258970538320","text":"\u003ctask:success:discrete:False\u003e\nput bowl 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put bowl on the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put bowl on the stand 2- put brush in the bowl 3- put bottle in the stand 4- put sponge brush in the stand 5- put sponge in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput bowl 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:planning:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder Q: immediate next step? \u003cPRED\u003eA: put bowl on the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put bowl on the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place kitchen supplies into the holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put bowl on the stand\n\u003c/PRED\u003e","video":"16824285825862387816.mp4"}
+{"uid":"3573172545736820521","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":"10971595752192418057.mp4"}
+{"uid":"7539131816487158396","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer 5- Open the top right drawer 6- Open the right middle drawer 7- Take apple and packet to  the room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please bring an apple and a candy to me in the meeting room. last 20 steps: 1- Go to drawer 2- Open top drawer 3- Close top drawer 4- Open the middle drawer 5- Open the top right drawer 6- Open the right middle drawer 7- Take apple and packet to  the room Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nTake apple and packet 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Take apple and packet to  the room\n\u003c/PRED\u003e","video":"17911371575486003756.mp4"}
+{"uid":"2415882225240630912","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":"16128105300114742993.mp4"}
+{"uid":"14787829004112773832","text":"\u003ctask:success:discrete:False\u003e\npick the yellow packet from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: pick the yellow packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the yellow packet from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the yellow packet from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the yellow packet from the table\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the yellow packet from the table\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow packet from the table 2- grab the yellow packet 3- pick up the yellow packet 4- drop the yellow packet in the cardboard box 5- pick the orange cable from the table\n\u003c/PRED\u003e","video":"14608294870581607786.mp4"}
+{"uid":"13365489622421618478","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nHang the cap 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":"12584913411274864364.mp4"}
+{"uid":"6085866849496523277","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the paper cup into the compostable 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":"9222732806789246100.mp4"}
+{"uid":"8663098162431856083","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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire Q: immediate next step? \u003cPRED\u003eA: grab the orange object\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: grab the orange object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the orange 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: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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire Q: next 5 steps? \u003cPRED\u003eA: 1- grab the orange object 2- pick the black cable from the table 3- drop the black cable in the cardboard box 4- pick the yellow packet from the table 5- grab the yellow packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the orange object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the orange object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the orange object\n\u003c/PRED\u003e","video":"12798635306646806526.mp4"}
+{"uid":"18380679372654992386","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the numi box in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16096615158417869381.mp4"}
+{"uid":"7452210046662671149","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the oatmeal 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":"12262832187471021702.mp4"}
+{"uid":"3021242298503122921","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy 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":"6025350941007187223.mp4"}
+{"uid":"7127363092644512067","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":"9189795785238793304.mp4"}
+{"uid":"8695737946646541763","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 cardboard box left flap 2- open the cardboard box right flap Q: next 5 steps? \u003cPRED\u003eA: 1- put the measuring tape in the carton box 2- pick the black wire 3- grab the orange object 4- put the orange object in the carton 5- pick the black cable from the table\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 cardboard box left flap 2- open the cardboard box right flap Q: immediate next step? \u003cPRED\u003eA: put the measuring tape in the carton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the measuring tape in the carton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the measuring tape in the carton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 measuring tape in the carton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the measuring tape in the carton 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 measuring tape in the carton box\n\u003c/PRED\u003e","video":"8267306420874920312.mp4"}
+{"uid":"925905580960569950","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: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the carton 2- pick the measuring tape from the table 3- drop the measuring tape in the cardboard box 4- pick the black wire 5- grab the orange object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the carton\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 carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the carton\n\u003c/PRED\u003e","video":"7605453243695984436.mp4"}
+{"uid":"7790226247681931813","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":"11010359129540181679.mp4"}
+{"uid":"2274036110859825910","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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box 14- pick the orange cable from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange cable in the cardboard box 2- pick the belt from the table 3- drop the belt in the cardboard box 4- put the ethernet shield box in the cardboard box 5- move back\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 orange cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange cable 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: drop the orange cable in the cardboard 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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box 14- pick the orange cable from the table Q: immediate next step? \u003cPRED\u003eA: drop the orange cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange cable 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: drop the orange cable in the cardboard box\n\u003c/PRED\u003e","video":"10440217069306038316.mp4"}
+{"uid":"4207737201228891718","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":"2642502315450724067.mp4"}
+{"uid":"11099673082423594587","text":"\u003ctask:success:discrete:True\u003e\nput the measuring tape 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:affordance:discriminative:discrete:True\u003e\npick the black wire Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the black wire\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black wire\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the black wire Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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: pick the black wire\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black wire\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black wire 2- grab the orange object 3- put the orange object in the carton 4- pick the black cable from the table 5- drop the black cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the measuring tape in the cardboard box\n\u003c/PRED\u003e","video":"17264880792842743668.mp4"}
+{"uid":"15915698192990753488","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: pick the orange cable from the table\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the orange cable from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the orange cable from the table\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange cable from the table 2- drop the orange cable in the cardboard box 3- pick the belt from the table 4- drop the belt in the cardboard box 5- put the ethernet shield box in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the orange cable from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the orange cable 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 orange cable 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":"5981661191853372726.mp4"}
+{"uid":"8532392280751432609","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the black wire\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the black wire Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5187965630833867606.mp4"}
+{"uid":"3949266463356573709","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 ethernet shield box in the carton\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box 14- pick the orange cable from the table 15- drop the orange cable in the cardboard box 16- pick the belt from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the ethernet shield box in the carton 2- move back 3- 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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box 14- pick the orange cable from the table 15- drop the orange cable in the cardboard box 16- pick the belt from the table Q: immediate next step? \u003cPRED\u003eA: put the ethernet shield box in the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the ethernet shield box in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the ethernet shield box in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the ethernet shield box in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the ethernet shield box in the carton\n\u003c/PRED\u003e","video":"8602664553781205076.mp4"}
+{"uid":"7024153145697022747","text":"\u003ctask:success:discrete:True\u003e\nput the ethernet shield box in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the ethernet shield box in the cardboard box\n\u003c/PRED\u003e","video":"13496860742574037607.mp4"}
+{"uid":"3379426630729646435","text":"\u003ctask:success:discrete:True\u003e\nput the black object 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 the black object in the cardboard box\n\u003c/PRED\u003e","video":"423397836747823863.mp4"}
+{"uid":"17273941286585052090","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black object which is at the bottom 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black object which is at the bottom right 2- grab the yellow packet 3- pick up the yellow packet 4- drop the yellow packet in the cardboard box 5- pick the orange cable from the table\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the black object which is at the bottom right\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: pick the black object which is at the bottom right\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black object which is at the bottom right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black object which is at the bottom right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the black object which is at the bottom right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15272686948405717781.mp4"}
+{"uid":"6239892625460096872","text":"\u003ctask:success:discrete:True\u003e\nopen the cardboard box right flap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 cardboard box right flap\n\u003c/PRED\u003e","video":"7423587082042001268.mp4"}
+{"uid":"11322024459137198103","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"15998852999904573750.mp4"}
+{"uid":"705876625430301372","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the popcorn 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":"6891386237793035243.mp4"}
+{"uid":"654712555136762595","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the forks in the left 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":"17664067549494784500.mp4"}
+{"uid":"16042528676588268369","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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire Q: immediate next step? \u003cPRED\u003eA: grab the orange object which is at the bottom right side\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the orange object which is at the bottom 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the orange object which is at the bottom right side\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the orange object which is at the bottom right side Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire Q: next 5 steps? \u003cPRED\u003eA: 1- grab the orange object which is at the bottom right side 2- pick the black cable from the table 3- drop the black cable in the cardboard box 4- pick the yellow packet from the table 5- grab the yellow packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the orange object which is at the bottom right side\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: grab the orange object which is at the bottom right side\n\u003c/PRED\u003e","video":"2538623784192571277.mp4"}
+{"uid":"145098355314456056","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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange object in the cardboard box 2- pick the black cable from the table 3- drop the black cable in the cardboard box 4- pick the yellow packet from the table 5- grab the yellow packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the orange object 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\ndrop the orange object 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange object in the cardboard 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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object Q: immediate next step? \u003cPRED\u003eA: drop the orange object in the cardboard 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 orange object in the cardboard box\n\u003c/PRED\u003e","video":"9635452081992526682.mp4"}
+{"uid":"14217569821137597528","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the yellow packet from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the yellow 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":"15524571964920777634.mp4"}
+{"uid":"11963536288952040394","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the belt in the carton\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box 14- pick the orange cable from the table Q: immediate next step? \u003cPRED\u003eA: put the belt in the carton\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box 14- pick the orange cable from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the belt in the carton 2- put the ethernet shield box in the cardboard box 3- move back 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the belt in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the belt in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the belt in the carton\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 belt in the carton\n\u003c/PRED\u003e","video":"5642552700354624132.mp4"}
+{"uid":"8475124315396134392","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the orange cable from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the orange cable 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":"11002962550659816694.mp4"}
+{"uid":"11739027397695265119","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the black wire\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the black wire Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5884698065398576021.mp4"}
+{"uid":"4581552164130775343","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove away from 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":"18386861668512114515.mp4"}
+{"uid":"13630555068091676213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green 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":"5623190853971142956.mp4"}
+{"uid":"18133304466612766208","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10964681086129490886.mp4"}
+{"uid":"18009330524524939144","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black wire in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black wire 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":"11924393032818881554.mp4"}
+{"uid":"12959842346644045607","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5091442347781903981.mp4"}
+{"uid":"1022507473606852657","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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table Q: immediate next step? \u003cPRED\u003eA: put the black object in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black object in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black object in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black object in the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black object in the carton\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the black object in the carton 2- pick the orange cable from the table 3- drop the orange cable in the cardboard box 4- pick the belt from the table 5- drop the belt in the cardboard 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 object in the carton\n\u003c/PRED\u003e","video":"3400812342278212823.mp4"}
+{"uid":"1838078400407377506","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: pick the brown box from the table\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: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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box 14- pick the orange cable from the table 15- drop the orange cable in the cardboard box 16- pick the belt from the table 17- drop the belt in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the brown box from the table 2- move back 3- 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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box 14- pick the orange cable from the table 15- drop the orange cable in the cardboard box 16- pick the belt from the table 17- drop the belt in the cardboard box 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the brown box from the table\n\u003c/PRED\u003e\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","video":"2923423163974796961.mp4"}
+{"uid":"18038440094715229748","text":"\u003ctask:success:discrete:True\u003e\nopen the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the carton\n\u003c/PRED\u003e","video":"2955761719364681510.mp4"}
+{"uid":"11357901402049433787","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack paper 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":"12779179407480133355.mp4"}
+{"uid":"9953227935411955758","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knife on the napkin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3747997726843731977.mp4"}
+{"uid":"5975296172568210253","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the yellow marker in a container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4736456717074307213.mp4"}
+{"uid":"15700846277376086302","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pentagon symbol in baby pink 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":"12278655092311254050.mp4"}
+{"uid":"4303133999246631934","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the brown box in the cardboard box\n\u003c/PRED\u003e\u003ctask: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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box 14- pick the orange cable from the table 15- drop the orange cable in the cardboard box 16- pick the belt from the table 17- drop the belt in the cardboard box Q: immediate next step? \u003cPRED\u003eA: drop the brown box in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the brown box in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the brown box in the cardboard box\n\u003c/PRED\u003e\u003ctask: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 brown box in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the brown box in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box 14- pick the orange cable from the table 15- drop the orange cable in the cardboard box 16- pick the belt from the table 17- drop the belt in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- drop the brown box in the cardboard box 2- move back 3- done\n\u003c/PRED\u003e","video":"3246567415528832942.mp4"}
+{"uid":"14719555633681871326","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the black object which is at the bottom right\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the black object which is at the bottom 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":"10268321478551071945.mp4"}
+{"uid":"5506341542228367780","text":"\u003ctask:success:discrete:True\u003e\npick the belt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the belt\n\u003c/PRED\u003e","video":"9095387652899584272.mp4"}
+{"uid":"9661506238830538043","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the cardboard box left flap\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the cardboard box left flap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14766178366940362808.mp4"}
+{"uid":"11686422214552584407","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange 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":"4373864595454337776.mp4"}
+{"uid":"4984365084390845264","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"16133558324545234500.mp4"}
+{"uid":"2878031480714231684","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 cardboard box left flap 2- open the cardboard box right flap Q: immediate next step? \u003cPRED\u003eA: put the measuring tape in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the measuring tape 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: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: put the measuring tape in the cardboard 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 cardboard box left flap 2- open the cardboard box right flap Q: next 5 steps? \u003cPRED\u003eA: 1- put the measuring tape in the cardboard box 2- pick the black wire 3- grab the orange object 4- put the orange object in the carton 5- pick the black cable from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the measuring tape in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the measuring tape 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 the measuring tape in the cardboard box\n\u003c/PRED\u003e","video":"4190873079271428137.mp4"}
+{"uid":"3555728823984662307","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the black cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the black cable 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":"8004160035370882978.mp4"}
+{"uid":"7941885902435867344","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the ethernet shield box in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the ethernet shield box in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18372955427672955828.mp4"}
+{"uid":"9700722105824769321","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: release the orange wire in the cardboard 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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box Q: immediate next step? \u003cPRED\u003eA: release the orange wire in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease the orange wire 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: release the orange wire in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: release the orange wire in the cardboard 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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- release the orange wire in the cardboard box 2- pick the belt from the table 3- drop the belt in the cardboard box 4- put the ethernet shield box in the cardboard box 5- move back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nrelease the orange wire 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":"3807493088016980840.mp4"}
+{"uid":"1284410400628261568","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":"17860065610850964876.mp4"}
+{"uid":"9760499153625791948","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the belt from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the belt 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":"5817861000661288369.mp4"}
+{"uid":"2532481802394794399","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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire Q: immediate next step? \u003cPRED\u003eA: grab the orange object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the orange 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: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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire Q: next 5 steps? \u003cPRED\u003eA: 1- grab the orange object 2- pick the black cable from the table 3- drop the black cable in the cardboard box 4- pick the yellow packet from the table 5- grab the yellow packet\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: grab the orange object\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the orange object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the orange object\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the orange object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10538264488582232662.mp4"}
+{"uid":"12552816560247073406","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the measuring tape from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the measuring tape 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":"2146210079813296358.mp4"}
+{"uid":"2435825135137092524","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the belt in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the belt 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: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: drop the belt in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the belt in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box 14- pick the orange cable from the table 15- drop the orange cable in the cardboard box 16- pick the belt from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the belt in the cardboard box 2- move back 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the belt in the cardboard 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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box 14- pick the orange cable from the table 15- drop the orange cable in the cardboard box 16- pick the belt from the table Q: immediate next step? \u003cPRED\u003eA: drop the belt in the cardboard box\n\u003c/PRED\u003e","video":"2899565324869263888.mp4"}
+{"uid":"1122951348465880134","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 black wire in the carton\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton Q: immediate next step? \u003cPRED\u003eA: put the black wire in the carton\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 carton\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- put the black wire in the carton 2- pick the yellow packet from the table 3- grab the yellow packet 4- pick up the yellow packet 5- drop the yellow packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black wire in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the black wire in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black wire in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2828143441335904011.mp4"}
+{"uid":"11599941517332909213","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":"8212999284274713331.mp4"}
+{"uid":"8669932514342077244","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the orange object which is at the bottom right side\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngrab the orange object which is at the bottom right side Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9370856574392126810.mp4"}
+{"uid":"15051426756812777683","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":"7056349405941822023.mp4"}
+{"uid":"2647909096041457504","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the white 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":"1651614153760057507.mp4"}
+{"uid":"16871745882861678195","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the orange house plant downwards on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10498372846555092998.mp4"}
+{"uid":"7466603924944826044","text":"\u003ctask:success:discrete:True\u003e\ngrab the orange object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the orange object\n\u003c/PRED\u003e","video":"8654840197393956279.mp4"}
+{"uid":"2719117029738455135","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: pick the belt from the table\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box 14- pick the orange cable from the table 15- drop the orange cable in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the belt from the table 2- drop the belt in the cardboard box 3- put the ethernet shield box in the cardboard box 4- move back 5- 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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box 14- pick the orange cable from the table 15- drop the orange cable in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the belt from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the belt from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the belt 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 belt from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the belt from the table\n\u003c/PRED\u003e","video":"10471665823292734511.mp4"}
+{"uid":"16465248587194573320","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black cable from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black cable from the table\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: pick the black cable from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the black cable 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 black cable 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the black cable from the table\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black cable from the table 2- grab the orange object 3- put the orange object in the carton 4- pick the black cable from the table 5- drop the black cable in the cardboard box\n\u003c/PRED\u003e","video":"913713013258872706.mp4"}
+{"uid":"504522819174584153","text":"\u003ctask:success:discrete:False\u003e\nrelease the black 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: release the black cable\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: release the black cable\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- release the black cable 2- grab the orange object 3- put the orange object in the carton 4- pick the black cable from the table 5- drop the black cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: release the black cable\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease the black 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box Q: immediate next step? \u003cPRED\u003eA: release the black cable\n\u003c/PRED\u003e","video":"340360480338905724.mp4"}
+{"uid":"8471301534289197727","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":"2614705659693749858.mp4"}
+{"uid":"1869951180647441452","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the black cable from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the black cable 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":"8683604576483955229.mp4"}
+{"uid":"11070669905948050631","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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire Q: immediate next step? \u003cPRED\u003eA: put the orange object in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange object in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange object in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange object in the carton\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 orange object in the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange object in the carton\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange object in the carton 2- pick the black cable from the table 3- drop the black cable in the cardboard box 4- pick the yellow packet from the table 5- grab the yellow packet\n\u003c/PRED\u003e","video":"9906145687267063404.mp4"}
+{"uid":"2234954527607742059","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the black object\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the black object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4643769753930045804.mp4"}
+{"uid":"17808944108398984676","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nopen 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: 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 cardboard box 2- drop the measuring tape in the cardboard box 3- pick the black wire 4- grab the orange object 5- put the orange object in the carton\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 cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen 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: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e","video":"5058802696130585111.mp4"}
+{"uid":"6301501272648571160","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange wire in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange wire in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange wire in the carton 2- pick the belt from the table 3- drop the belt in the cardboard box 4- put the ethernet shield box in the cardboard box 5- move back\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 orange wire in the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange wire in the carton\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box Q: immediate next step? \u003cPRED\u003eA: put the orange wire in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange wire in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4288797107575310528.mp4"}
+{"uid":"13864473050940746467","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 yellow packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the yellow packet in the cardboard 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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet Q: next 5 steps? \u003cPRED\u003eA: 1- drop the yellow packet in the cardboard box 2- pick the orange cable from the table 3- drop the orange cable in the cardboard box 4- pick the belt from the table 5- drop the belt in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the yellow 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: drop the yellow packet in the cardboard 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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet Q: immediate next step? \u003cPRED\u003eA: drop the yellow packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the yellow 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":"7715841407596729101.mp4"}
+{"uid":"2610065495661013396","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput toffee 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":"13032691097294440383.mp4"}
+{"uid":"1610123424896902325","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":"11724558206675687659.mp4"}
+{"uid":"15255141109330489473","text":"\u003ctask:success:discrete:False\u003e\npick the black object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black object\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black object Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black object\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: pick the black object\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black object 2- grab the yellow packet 3- pick up the yellow packet 4- drop the yellow packet in the cardboard box 5- pick the orange cable from the table\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the black object\n\u003c/PRED\u003e","video":"1324296898798131270.mp4"}
+{"uid":"2739263546954541247","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cup 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":"11341744809862165118.mp4"}
+{"uid":"10959072260636164615","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange wire in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange wire in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"459984738301941859.mp4"}
+{"uid":"13253128962155336983","text":"\u003ctask:success:discrete:True\u003e\npick the black cable from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the black cable from the table\n\u003c/PRED\u003e","video":"9986922214790174744.mp4"}
+{"uid":"17261208871984329842","text":"\u003ctask:success:discrete:True\u003e\nput the belt in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the belt in the carton\n\u003c/PRED\u003e","video":"8339515870656596757.mp4"}
+{"uid":"2188302067720965987","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black wire in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black wire in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18117960424155662441.mp4"}
+{"uid":"1300157507946452173","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow highlighter in the first 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":"5264870195973492609.mp4"}
+{"uid":"13182133886404962012","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black object 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 the black object in the cardboard 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 object 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 black object in the cardboard 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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the black object in the cardboard box 2- pick the orange cable from the table 3- drop the orange cable in the cardboard box 4- pick the belt from the table 5- drop the belt in the cardboard 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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table Q: immediate next step? \u003cPRED\u003eA: put the black object in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black object 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":"9708239187045964008.mp4"}
+{"uid":"4357122138207194205","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":"11226340264164860057.mp4"}
+{"uid":"8549841670520314217","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: pick up the yellow packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the yellow packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the yellow packet\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet Q: immediate next step? \u003cPRED\u003eA: pick up the yellow packet\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the yellow packet 2- drop the yellow packet in the cardboard box 3- pick the orange cable from the table 4- drop the orange cable in the cardboard box 5- pick the belt from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up 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\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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","video":"7976472270843457537.mp4"}
+{"uid":"13123614977259204529","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cream pebble in the left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17408018672049679957.mp4"}
+{"uid":"7196828259538663543","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the black wire in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the black wire 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: 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 cardboard 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 cardboard 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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- put the black wire in the cardboard box 2- pick the yellow packet from the table 3- grab the yellow packet 4- pick up the yellow packet 5- drop the yellow packet in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the black wire 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton Q: immediate next step? \u003cPRED\u003eA: put the black wire in the cardboard box\n\u003c/PRED\u003e","video":"5170278853096423368.mp4"}
+{"uid":"15508169772299364217","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the measuring tape from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the measuring tape 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the cardboard box left flap 2- open the cardboard box right flap Q: next 5 steps? \u003cPRED\u003eA: 1- pick the measuring tape from the table 2- drop the measuring tape in the cardboard box 3- pick the black wire 4- grab the orange object 5- put the orange object in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the measuring tape 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: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the measuring tape from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the measuring tape from the table\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 cardboard box left flap 2- open the cardboard box right flap Q: immediate next step? \u003cPRED\u003eA: pick the measuring tape from the table\n\u003c/PRED\u003e","video":"17105931511231076615.mp4"}
+{"uid":"6122692152838934021","text":"\u003ctask:success:discrete:True\u003e\nput the orange object in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange object in the carton\n\u003c/PRED\u003e","video":"14704952708903111951.mp4"}
+{"uid":"16411001464985478108","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":"14470475776356105364.mp4"}
+{"uid":"1105885601971099693","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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the black cable in the cardboard box 2- pick the yellow packet from the table 3- grab the yellow packet 4- pick up the yellow packet 5- drop the yellow packet in the cardboard 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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table Q: immediate next step? \u003cPRED\u003eA: drop the black cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the black cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the black cable 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: 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 cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the black cable 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: drop the black cable in the cardboard box\n\u003c/PRED\u003e","video":"6950696458676571109.mp4"}
+{"uid":"11172846189353842799","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the highlighter in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9245046206575727482.mp4"}
+{"uid":"7806470504025200978","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cardboard box right flap\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 cardboard box left flap Q: next 5 steps? \u003cPRED\u003eA: 1- open the cardboard box right flap 2- pick the measuring tape from the table 3- drop the measuring tape in the cardboard box 4- pick the black wire 5- grab the orange object\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cardboard box right flap\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 cardboard box left flap Q: immediate next step? \u003cPRED\u003eA: open the cardboard box right flap\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 cardboard box right flap\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the cardboard box right flap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 cardboard box right flap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2136161051809980487.mp4"}
+{"uid":"6380144270293373075","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move back\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box 14- pick the orange cable from the table 15- drop the orange cable in the cardboard box 16- pick the belt from the table 17- drop the belt in the cardboard box 18- put the ethernet shield box in the cardboard box 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: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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box 14- pick the orange cable from the table 15- drop the orange cable in the cardboard box 16- pick the belt from the table 17- drop the belt in the cardboard box 18- put the ethernet shield box in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- move back 2- done\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: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: 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","video":"10054246996909420384.mp4"}
+{"uid":"1864594607644683583","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the cart to the corner of 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":"12559229915071270860.mp4"}
+{"uid":"10103000519212096614","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: grab the yellow packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the yellow packet\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table Q: next 5 steps? \u003cPRED\u003eA: 1- grab the yellow packet 2- pick up the yellow packet 3- drop the yellow packet in the cardboard box 4- pick the orange cable from the table 5- drop the orange cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the yellow packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab 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:success:discrete:False\u003e\ngrab 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\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table Q: immediate next step? \u003cPRED\u003eA: grab the yellow packet\n\u003c/PRED\u003e","video":"9632103501378160268.mp4"}
+{"uid":"9973470734147258936","text":"\u003ctask:success:discrete:False\u003e\npick the belt Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box 14- pick the orange cable from the table 15- drop the orange cable in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the belt\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the belt\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: pick the belt\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box 14- pick the orange cable from the table 15- drop the orange cable in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the belt 2- put the ethernet shield box in the cardboard box 3- move back 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the belt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the belt\n\u003c/PRED\u003e","video":"10053897615741503515.mp4"}
+{"uid":"112070405934592933","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the black object in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the black object in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13758124528444898924.mp4"}
+{"uid":"16451302292026935349","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":"14092430585803298648.mp4"}
+{"uid":"1792784163913378933","text":"\u003ctask:success:discrete:True\u003e\ngrab the orange object Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the orange object\n\u003c/PRED\u003e","video":"6340240356482216039.mp4"}
+{"uid":"17907913458925316495","text":"\u003ctask:success:discrete:True\u003e\nput the measuring tape in the carton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the measuring tape in the carton box\n\u003c/PRED\u003e","video":"17630540707065672273.mp4"}
+{"uid":"4220336889806953513","text":"\u003ctask:success:discrete:True\u003e\nrelease the orange wire 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: release the orange wire in the cardboard box\n\u003c/PRED\u003e","video":"2649103113386047175.mp4"}
+{"uid":"11857133968255931819","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange object in the cardboard 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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object Q: immediate next step? \u003cPRED\u003eA: put the orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange object 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 the orange object in the cardboard 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 orange object in the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange object in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange object in the cardboard box 2- drop the black cable in the cardboard box 3- pick the yellow packet from the table 4- grab the yellow packet 5- pick up the yellow packet\n\u003c/PRED\u003e","video":"9385542631012865137.mp4"}
+{"uid":"16990649208538477292","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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black wire 2- grab the orange object 3- put the orange object in the carton 4- pick the black cable from the table 5- drop the black cable in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black wire Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 black wire\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: pick the black wire\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box Q: immediate next step? \u003cPRED\u003eA: pick the black wire\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black wire\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the black wire Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13342024746511622684.mp4"}
+{"uid":"16045164624451886669","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow tea bag 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":"12956989399923034250.mp4"}
+{"uid":"12862358743732832020","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the toy 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":"14365484697636813391.mp4"}
+{"uid":"5384764496183093800","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a glass stack on 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":"17318662222235025257.mp4"}
+{"uid":"12552997061535544300","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a 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":"8905926251021556603.mp4"}
+{"uid":"9919255435314163493","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":"6866507784968927806.mp4"}
+{"uid":"968734167280706244","text":"\u003ctask:success:discrete:False\u003e\nput the ethernet shield box in the cardboard box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the ethernet shield box in the cardboard 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 ethernet shield box in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the ethernet shield box in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the ethernet shield box in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box 14- pick the orange cable from the table 15- drop the orange cable in the cardboard box 16- pick the belt from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the ethernet shield box in the cardboard box 2- move back 3- 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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton 8- pick the black cable from the table 9- drop the black cable in the cardboard box 10- pick the yellow packet from the table 11- grab the yellow packet 12- pick up the yellow packet 13- drop the yellow packet in the cardboard box 14- pick the orange cable from the table 15- drop the orange cable in the cardboard box 16- pick the belt from the table Q: immediate next step? \u003cPRED\u003eA: put the ethernet shield box in the cardboard box\n\u003c/PRED\u003e","video":"8876627880949029456.mp4"}
+{"uid":"8555769919865434347","text":"\u003ctask:success:discrete:False\u003e\nopen the cardboard box left flap Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cardboard box left flap\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the cardboard box left flap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 cardboard box left flap\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 cardboard box left flap\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cardboard box left flap\n\u003c/PRED\u003e","video":"7384646885271452029.mp4"}
+{"uid":"16868040971509645160","text":"\u003ctask:success:discrete:False\u003e\npick up the orange object 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 orange object 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the orange object from the table 2- pick the black cable from the table 3- drop the black cable in the cardboard box 4- pick the yellow packet from the table 5- grab the yellow packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the orange object from the table\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: pick up the orange object 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 orange object from the table\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object Q: immediate next step? \u003cPRED\u003eA: pick up the orange object from the table\n\u003c/PRED\u003e","video":"5439435911380619201.mp4"}
+{"uid":"6945180489905956122","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":"15743129802872223924.mp4"}
+{"uid":"13302542731946977166","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the black cable 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: open the cardboard box on the desk, then place items from the desk into the box. Q: immediate next step? \u003cPRED\u003eA: pick the black cable from the table\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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- pick the black cable from the table 2- drop the black cable in the cardboard box 3- pick the yellow packet from the table 4- grab the yellow packet 5- pick up the yellow packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the black cable from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the black cable 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table 4- drop the measuring tape in the cardboard box 5- pick the black wire 6- grab the orange object 7- put the orange object in the carton Q: immediate next step? \u003cPRED\u003eA: pick the black cable from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the black cable from the table\n\u003c/PRED\u003e","video":"11205775735602046077.mp4"}
+{"uid":"6580790622846300690","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nwash 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":"14909109910933157624.mp4"}
+{"uid":"179762081758048836","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the cardboard box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen 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":"17611855474704793485.mp4"}
+{"uid":"10319818911251097921","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 cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table Q: immediate next step? \u003cPRED\u003eA: drop the measuring tape in the cardboard 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 measuring tape in the cardboard box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the measuring tape in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the measuring tape in the cardboard box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the measuring tape 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: open the cardboard box on the desk, then place items from the desk into the box. last 20 steps: 1- open the cardboard box left flap 2- open the cardboard box right flap 3- pick the measuring tape from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the measuring tape in the cardboard box 2- pick the black wire 3- grab the orange object 4- put the orange object in the carton 5- pick the black cable from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the measuring tape 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":"11746362110430376188.mp4"}
+{"uid":"16537151464486968883","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: place the banana in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the banana in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar Q: immediate next step? \u003cPRED\u003eA: place the banana in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana in the jar 2- place an apple in the jar 3- place a fruit in the jar 4- place a fruit in the jar 5- place a pear in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the banana in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5899513316027470425.mp4"}
+{"uid":"17946065770941716545","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar 8- place a fruit in the jar 9- place a pear in the jar Q: immediate next step? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar 8- place a fruit in the jar 9- place a pear in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the jar 2- place an apple in the jar 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e","video":"6533923845545960288.mp4"}
+{"uid":"13999710719050955504","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"17242692300031810326.mp4"}
+{"uid":"10092671298090007503","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13941253882825180483.mp4"}
+{"uid":"1858878763055630329","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclean the screen 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":"629146032968894309.mp4"}
+{"uid":"11376601888969614099","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place an apple in jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace an apple 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:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: place an apple in jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place an apple in jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an apple 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 an apple in jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an apple in jar\n\u003c/PRED\u003e","video":"8111207445414015646.mp4"}
+{"uid":"4943360964521950403","text":"\u003ctask:success:discrete:True\u003e\nplace a pear 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 a pear in the jar\n\u003c/PRED\u003e","video":"18113009160305971756.mp4"}
+{"uid":"12217651949639688739","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput apple in the  middle bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15988815574149717676.mp4"}
+{"uid":"3350675348596845952","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace scoop 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":"1836173646632695756.mp4"}
+{"uid":"10158492804480561324","text":"\u003ctask:success:discrete:True\u003e\nput the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e","video":"15774058108295421801.mp4"}
+{"uid":"7686239772510369634","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the lemon in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar Q: immediate next step? \u003cPRED\u003eA: put the lemon in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the lemon 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 lemon in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the lemon in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the lemon in the jar 2- place a fruit in the jar 3- place a pear in the jar 4- place a fruit in the jar 5- place an apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the lemon 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":"17339025773068067366.mp4"}
+{"uid":"17733927515744989378","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the paper cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14729916342228452701.mp4"}
+{"uid":"1024529561097648825","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar\n\u003c/PRED\u003e","video":"4992022893743277602.mp4"}
+{"uid":"7836183002617777585","text":"\u003ctask:success:discrete:True\u003e\nplace an apple in jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place an apple in jar\n\u003c/PRED\u003e","video":"179878270416699782.mp4"}
+{"uid":"13596712098015654306","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar 8- place a fruit in the jar Q: immediate next step? \u003cPRED\u003eA: put the yellow pear in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow pear in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow pear in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow pear in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar 8- place a fruit in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow pear in the jar 2- place a fruit in the jar 3- place an apple in the jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow pear in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the yellow pear in the jar\n\u003c/PRED\u003e","video":"374392150600404903.mp4"}
+{"uid":"15392005102104368070","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an apple in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: place an apple in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place an apple in the jar 2- place an apple in the jar 3- place a fruit in the jar 4- place a fruit in the jar 5- place a pear in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace an apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar Q: immediate next step? \u003cPRED\u003eA: place an apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an apple in the jar\n\u003c/PRED\u003e","video":"16662974930407576012.mp4"}
+{"uid":"17023518404440969137","text":"\u003ctask:success:discrete:True\u003e\nput the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e","video":"14210292268657892814.mp4"}
+{"uid":"6837266138082595632","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"17485498464054486927.mp4"}
+{"uid":"5800339690259168331","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the lemon in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the lemon 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":"15825443251313997529.mp4"}
+{"uid":"5250492560351580224","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen into the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15753920910015160771.mp4"}
+{"uid":"11994567144127351277","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut yellow packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12053703370362276020.mp4"}
+{"uid":"14283237958928636000","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar Q: immediate next step? \u003cPRED\u003eA: put the lemon in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the lemon in the jar 2- place a fruit in the jar 3- place banana in the jar 4- place an apple in the jar 5- place an apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the lemon 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 lemon in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the lemon in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the lemon in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the lemon in the jar\n\u003c/PRED\u003e","video":"7061891849804184457.mp4"}
+{"uid":"6936284797363555837","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place an apple in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar 8- place a fruit in the jar 9- place a pear in the jar 10- place a fruit in the jar 11- Put the apple in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar 8- place a fruit in the jar 9- place a pear in the jar 10- place a fruit in the jar 11- Put the apple in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar 8- place a fruit in the jar 9- place a pear in the jar 10- place a fruit in the jar 11- place an apple in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace an apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar 8- place a fruit in the jar 9- place a pear in the jar 10- place a fruit in the jar 11- place an apple in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3778457966765626645.mp4"}
+{"uid":"1971680295329771748","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar Q: immediate next step? \u003cPRED\u003eA: place an apple in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place an apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place a pear in the jar 5- place a fruit in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: place an apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an apple in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace an apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an apple in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10521288265886277583.mp4"}
+{"uid":"9207738077246544887","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTake the tray to the other side of the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6849527440550199514.mp4"}
+{"uid":"4855876584192907726","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":"1769428634702443448.mp4"}
+{"uid":"14138977419792494700","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: place a fruit in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar 8- place a fruit in the jar 9- place a pear in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place a fruit in the jar 2- place an apple in the jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a fruit in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar 8- place a fruit in the jar 9- place a pear in the jar Q: immediate next step? \u003cPRED\u003eA: place a fruit in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a fruit in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a fruit in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a fruit in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10171318167707384532.mp4"}
+{"uid":"14170262899241262549","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the lemon in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar Q: immediate next step? \u003cPRED\u003eA: put the lemon in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the lemon in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the lemon in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the lemon in the jar 2- place a pear in the jar 3- place a fruit in the jar 4- place an apple in the jar 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the lemon in the jar\n\u003c/PRED\u003e","video":"9881110529031734765.mp4"}
+{"uid":"12087358460769156746","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13691491054584079272.mp4"}
+{"uid":"17002477891852748877","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pebble in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3759620668586724556.mp4"}
+{"uid":"6807220992651746416","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":"8464865132021759912.mp4"}
+{"uid":"10601364816207062780","text":"\u003ctask:success:discrete:True\u003e\nplace a fruit in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a fruit in the jar\n\u003c/PRED\u003e","video":"14289790104204777790.mp4"}
+{"uid":"12636025257630373030","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":"1994193014038679197.mp4"}
+{"uid":"12221572563923761186","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the banana in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the banana in the jar 2- place an apple in the jar 3- place an apple in the jar 4- place a fruit in the jar 5- place a fruit in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the banana in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the banana in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the banana in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar Q: immediate next step? \u003cPRED\u003eA: Put the banana in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the banana in the jar\n\u003c/PRED\u003e","video":"2060753989029291059.mp4"}
+{"uid":"7696824970142451799","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar 8- place a fruit in the jar 9- place a pear in the jar 10- place a fruit in the jar Q: immediate next step? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar 8- place a fruit in the jar 9- place a pear in the jar 10- place a fruit in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the jar 2- done\n\u003c/PRED\u003e","video":"15246030053831493138.mp4"}
+{"uid":"12639032693871448762","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"439667644581803591.mp4"}
+{"uid":"16455811724035470761","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick 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":"9662717965730476592.mp4"}
+{"uid":"8805038965065175066","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a fruit in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a fruit in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e","video":"9153409419980928084.mp4"}
+{"uid":"14142221190761053127","text":"\u003ctask:success:discrete:False\u003e\nplace a fruit in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place a fruit in the jar 2- place a fruit in the jar 3- place a pear in the jar 4- place a fruit in the jar 5- place an apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a fruit in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: place a fruit in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a fruit in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a fruit in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar Q: immediate next step? \u003cPRED\u003eA: place a fruit in the jar\n\u003c/PRED\u003e","video":"3359514544648050283.mp4"}
+{"uid":"14347576962806137794","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the pear in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar 8- place a fruit in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the pear in the jar 2- place a fruit in the jar 3- place an apple in the jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the pear in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the pear in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the pear in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar 8- place a fruit in the jar Q: immediate next step? \u003cPRED\u003eA: Put the pear in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the pear in the jar\n\u003c/PRED\u003e","video":"2656018990344970466.mp4"}
+{"uid":"7491326814552600002","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nrelease 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":"8467367646216664048.mp4"}
+{"uid":"14690556763016606163","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9037523780977588291.mp4"}
+{"uid":"2604467639855862882","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a fruit in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a fruit in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8929429817931402520.mp4"}
+{"uid":"10709153512954947819","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3398690226945472932.mp4"}
+{"uid":"16522450509677321235","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a pear in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar 8- place a fruit in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place a pear in the jar 2- place a fruit in the jar 3- place an apple in the jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a pear in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a pear in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: place a pear in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a pear in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar 8- place a fruit in the jar Q: immediate next step? \u003cPRED\u003eA: place a pear in the jar\n\u003c/PRED\u003e","video":"3271061067150381224.mp4"}
+{"uid":"1720995303830104184","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace an apple in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace an apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar 8- place a fruit in the jar 9- place a pear in the jar 10- place a fruit in the jar Q: immediate next step? \u003cPRED\u003eA: place an apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place an apple in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place an apple in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: place an apple in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar 8- place a fruit in the jar 9- place a pear in the jar 10- place a fruit in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place an apple in the jar 2- done\n\u003c/PRED\u003e","video":"13369332863482794836.mp4"}
+{"uid":"14182748814404512839","text":"\u003ctask:success:discrete:True\u003e\nput the yellow pear 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 pear in the jar\n\u003c/PRED\u003e","video":"17011526849356800506.mp4"}
+{"uid":"8361913844669844408","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar Q: immediate next step? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the jar 2- place a fruit in the jar 3- place a pear in the jar 4- place a fruit in the jar 5- place an apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e","video":"17276469316847520615.mp4"}
+{"uid":"15897488179385764847","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar Q: immediate next step? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place a pear in the jar 5- place a fruit in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e","video":"6843207005707705884.mp4"}
+{"uid":"6385552436785198189","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the jar 2- place an apple in the jar 3- place a fruit in the jar 4- place a fruit in the jar 5- place a pear in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar Q: immediate next step? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e","video":"12081465986395776489.mp4"}
+{"uid":"12363543394353509092","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar 8- place a fruit in the jar 9- place a pear in the jar 10- place a fruit in the jar 11- put the apple in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar 8- place a fruit in the jar 9- place a pear in the jar 10- place a fruit in the jar 11- put the apple in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4663075166744540447.mp4"}
+{"uid":"2596713507394393248","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"1928349678803893544.mp4"}
+{"uid":"10972596616020367075","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput knife in 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":"3306692449746770754.mp4"}
+{"uid":"11833187304335829807","text":"\u003ctask:success:discrete:True\u003e\nPut the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e","video":"16279954990175259805.mp4"}
+{"uid":"9856079576451666069","text":"\u003ctask:success:discrete:False\u003e\nplace a fruit in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a fruit in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a fruit in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place a fruit in the jar 2- place banana in the jar 3- place an apple in the jar 4- place an apple in the jar 5- place a fruit in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a fruit in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: place a fruit in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar Q: immediate next step? \u003cPRED\u003eA: place a fruit in the jar\n\u003c/PRED\u003e","video":"10646729788525374444.mp4"}
+{"uid":"7840351250740702347","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place banana in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace banana 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":"17611471770061788360.mp4"}
+{"uid":"10288730772299189025","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar Q: immediate next step? \u003cPRED\u003eA: place the apple in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the jar 2- place a fruit in the jar 3- place a pear in the jar 4- place a fruit in the jar 5- place an apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: place the apple in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the jar\n\u003c/PRED\u003e","video":"4776680179908633019.mp4"}
+{"uid":"2775305601856856724","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":"10865836616416113504.mp4"}
+{"uid":"12332929898114399197","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar Q: immediate next step? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the jar 2- place an apple in the jar 3- place a fruit in the jar 4- place a fruit in the jar 5- place a pear in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e","video":"5002873482778500653.mp4"}
+{"uid":"2771339238898412042","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e","video":"17644766752474743586.mp4"}
+{"uid":"18393893111632985683","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":"1235760669846120757.mp4"}
+{"uid":"3459164048756663041","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the packet into bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15888667939866681491.mp4"}
+{"uid":"9867990750813176751","text":"\u003ctask:success:discrete:True\u003e\nplace the banana 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 the banana in the jar\n\u003c/PRED\u003e","video":"1738260363081265363.mp4"}
+{"uid":"8023300682673218321","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar Q: immediate next step? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the jar 2- place a pear in the jar 3- place a fruit in the jar 4- place an apple in the jar 5- done\n\u003c/PRED\u003e","video":"3103125893854164600.mp4"}
+{"uid":"16590797913244375986","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":"14413896641259993800.mp4"}
+{"uid":"1599121927221179611","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a fruit in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a fruit in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place a fruit in the jar 2- place a pear in the jar 3- place a fruit in the jar 4- place an apple in the jar 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar Q: immediate next step? \u003cPRED\u003eA: place a fruit in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: place a fruit in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a fruit in the jar\n\u003c/PRED\u003e","video":"18314821213212721782.mp4"}
+{"uid":"1622369686992597531","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":"12119312805872920250.mp4"}
+{"uid":"14711203792001630705","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":"12632884211139085416.mp4"}
+{"uid":"8539847816063222260","text":"\u003ctask:success:discrete:False\u003e\nPut the orange in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar Q: immediate next step? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the jar 2- place banana in the jar 3- place an apple in the jar 4- place an apple in the jar 5- place a fruit in the jar\n\u003c/PRED\u003e","video":"14388370067438604902.mp4"}
+{"uid":"3148520135011341888","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow chocolate in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6821648911289479218.mp4"}
+{"uid":"16341056944004687603","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":"7706627855214808442.mp4"}
+{"uid":"7472023792434418621","text":"\u003ctask:success:discrete:False\u003e\nplace a fruit in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar Q: immediate next step? \u003cPRED\u003eA: place a fruit in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a fruit in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a fruit in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a fruit in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: place a fruit in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place a fruit in the jar 2- place a fruit in the jar 3- place banana in the jar 4- place an apple in the jar 5- place an apple in the jar\n\u003c/PRED\u003e","video":"5064103941798699813.mp4"}
+{"uid":"12519503939975183303","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":"8515268945709110539.mp4"}
+{"uid":"4135791342039787590","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"570081066494359363.mp4"}
+{"uid":"6044643349768332851","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar Q: immediate next step? \u003cPRED\u003eA: put the lemon in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the lemon in the jar 2- place banana in the jar 3- place an apple in the jar 4- place an apple in the jar 5- place a fruit in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the lemon in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the lemon in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the lemon 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 lemon in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the lemon in the jar\n\u003c/PRED\u003e","video":"4745754573468040915.mp4"}
+{"uid":"9179945333485842942","text":"\u003ctask:success:discrete:True\u003e\nplace an apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place an apple in the jar\n\u003c/PRED\u003e","video":"16382139395402511957.mp4"}
+{"uid":"7694828568400344317","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar Q: immediate next step? \u003cPRED\u003eA: place banana in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace banana in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place banana in the jar 2- place an apple in the jar 3- place an apple in the jar 4- place a fruit in the jar 5- place a fruit in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace banana in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: place banana in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place banana in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place banana in the jar\n\u003c/PRED\u003e","video":"910184222633306369.mp4"}
+{"uid":"9313459558557766277","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white packet in a 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":"773060084473200884.mp4"}
+{"uid":"17109172897005933565","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":"3650806636240297134.mp4"}
+{"uid":"4509402527419520851","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place an apple in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace an apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10272936034508497158.mp4"}
+{"uid":"4763373810049338534","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar 8- place a fruit in the jar 9- place a pear in the jar 10- place a fruit in the jar Q: immediate next step? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar 2- place a fruit in the jar 3- place a fruit in the jar 4- place banana in the jar 5- place an apple in the jar 6- place an apple in the jar 7- place a fruit in the jar 8- place a fruit in the jar 9- place a pear in the jar 10- place a fruit in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in the jar 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in the jar\n\u003c/PRED\u003e","video":"7335274465480990248.mp4"}
+{"uid":"10598337752784018583","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in the jar 2- place a fruit in the jar 3- place banana in the jar 4- place an apple in the jar 5- place an apple in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please put all the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please put all the fruits into the jar. last 20 steps: 1- put the apple in the jar Q: immediate next step? \u003cPRED\u003eA: Put the orange in the jar\n\u003c/PRED\u003e","video":"17386672385546075250.mp4"}
+{"uid":"12171608336269345575","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":"9542836149690851606.mp4"}
+{"uid":"7455564103513958377","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bowl upright on the other table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the bowl upright 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","video":"16278765358827802169.mp4"}
+{"uid":"9292690830297044112","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cherries on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11245173065873969472.mp4"}
+{"uid":"11264579869140199502","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10925484926054918950.mp4"}
+{"uid":"15453149889969204143","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pea in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7328028144112720764.mp4"}
+{"uid":"10502529816652661718","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bowl on the other table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the bowl 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","video":"7241602813367788952.mp4"}
+{"uid":"10370332599644372025","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":"11338489928214160293.mp4"}
+{"uid":"4816596724878180326","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the scoop in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a spoon Q: immediate next step? \u003cPRED\u003eA: place the scoop in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the scoop in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a spoon. last 20 steps: 1- place the bowl upright on the other table 2- move the bowl backward 3- place the lid on the table 4- pour the snacks in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the scoop in the holder 2- place the lid on the jar 3- place the bowl on the other table 4- place the spoon in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the scoop in the holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a spoon. last 20 steps: 1- place the bowl upright on the other table 2- move the bowl backward 3- place the lid on the table 4- pour the snacks in the bowl Q: immediate next step? \u003cPRED\u003eA: place the scoop in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the scoop in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10817665823038191319.mp4"}
+{"uid":"16254295911326272734","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packets on the table Q: immediate next step? \u003cPRED\u003eA: Put the orange packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange 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 chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange 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 orange packets on the table\n\u003c/PRED\u003e","video":"17650245486152556474.mp4"}
+{"uid":"10462547308909420904","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 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 6- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put 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 6- put packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2325207032862867522.mp4"}
+{"uid":"7949109122609489483","text":"\u003ctask:success:discrete:True\u003e\npour the 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: pour the snacks in the bowl\n\u003c/PRED\u003e","video":"15716991974315305294.mp4"}
+{"uid":"792312578970339403","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":"2406340563655744551.mp4"}
+{"uid":"16034384546118910679","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candies in the empty compartment Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8961917348480819947.mp4"}
+{"uid":"3526517174621102963","text":"\u003ctask:success:discrete:True\u003e\nput packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e","video":"14173241302614572966.mp4"}
+{"uid":"8086875504976345398","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":"9894238273785451448.mp4"}
+{"uid":"8448764331128914700","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the bowl backward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a spoon Q: immediate next step? \u003cPRED\u003eA: move the bowl backward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the bowl backward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the bowl backward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the bowl backward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a spoon. last 20 steps: 1- place the bowl upright on the other table Q: immediate next step? \u003cPRED\u003eA: move the bowl backward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a spoon. last 20 steps: 1- place the bowl upright on the other table Q: next 5 steps? \u003cPRED\u003eA: 1- move the bowl backward 2- place the lid on the table 3- pour the snacks in the bowl 4- place the scoop in the holder 5- place the lid on the jar\n\u003c/PRED\u003e","video":"13983593042845045373.mp4"}
+{"uid":"17756626216715021528","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: place packets on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place 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:affordance:discriminative:discrete:True\u003e\nplace 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 chips from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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":"12815649252600752791.mp4"}
+{"uid":"202046771233252547","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":"16777265321996147095.mp4"}
+{"uid":"4236026000942311052","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the brown packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table Q: immediate next step? \u003cPRED\u003eA: Put the brown packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown 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 brown packets on the table\n\u003c/PRED\u003e","video":"2987000422767331239.mp4"}
+{"uid":"6827633256280382164","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":"5397076865732589404.mp4"}
+{"uid":"9307103180809138953","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packets on the table 3- put packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on the table 2- put packet on the table 3- put packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packets on the table 3- put packets on the table Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e","video":"9358834673590869773.mp4"}
+{"uid":"17163126542960070059","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the illy 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":"2674916961960610157.mp4"}
+{"uid":"5192379400059207045","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":"7816915575996019184.mp4"}
+{"uid":"12874539017780942159","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a spoon. last 20 steps: 1- place the bowl upright on the other table 2- move the bowl backward 3- place the lid on the table 4- pour the snacks in the bowl 5- place the scoop in the holder 6- place the lid on the jar 7- place the bowl on the other table Q: immediate next step? \u003cPRED\u003eA: place the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the spoon in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a spoon. last 20 steps: 1- place the bowl upright on the other table 2- move the bowl backward 3- place the lid on the table 4- pour the snacks in the bowl 5- place the scoop in the holder 6- place the lid on the jar 7- place the bowl on the other table Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a spoon Q: immediate next step? \u003cPRED\u003eA: place the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the bowl\n\u003c/PRED\u003e","video":"8434085801551557114.mp4"}
+{"uid":"15581990582945533083","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":"17764296753602667666.mp4"}
+{"uid":"7889883462848820224","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packets on the table 3- 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packets on the table 3- put packets 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: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":"12060485304847680175.mp4"}
+{"uid":"4800058385561614882","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a spoon. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the bowl upright on the other table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl upright 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\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl upright 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 grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a spoon. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl upright on the other table 2- move the bowl backward 3- place the lid on the table 4- pour the snacks in the bowl 5- place the scoop in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a spoon Q: immediate next step? \u003cPRED\u003eA: place the bowl upright on the other table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl upright on the other table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl upright on the other table\n\u003c/PRED\u003e","video":"17746345838964644597.mp4"}
+{"uid":"18057954094938710266","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"13808636899450265715.mp4"}
+{"uid":"14298417573592314294","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace orange packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12395602880408313198.mp4"}
+{"uid":"12346481415180572474","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packets on the table 3- put packets 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:planning:freeform\u003e\ncurrent goal is: please remove the chips 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 chips from the tray. last 20 steps: 1- put packets on the table 2- put packets on the table 3- put packets 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- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance: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":"4313328567020982496.mp4"}
+{"uid":"10162985393690261445","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"7001381137526606884.mp4"}
+{"uid":"513852250326887","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker 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":"9557876252235205056.mp4"}
+{"uid":"12137606899559595552","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2962137549247327991.mp4"}
+{"uid":"7682828265788336758","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 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 Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 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 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:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"10970303473873852915.mp4"}
+{"uid":"212197975845580146","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packets on the table 3- put packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet on the table 2- put packet on the table 3- put packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packets on the table 3- put packets on the table Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e","video":"4701256528673805973.mp4"}
+{"uid":"4292318554956429515","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packets on the table 3- put packets on the table 4- put packet on the table Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packets on the table 3- put packets on the table 4- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet on the table 2- put packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e","video":"7087179534695839394.mp4"}
+{"uid":"9489413855919302074","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 chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put 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: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 chips from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e","video":"1531561352943738600.mp4"}
+{"uid":"7957553248613940508","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packets on the table 3- put packets on the table 4- put packet on the table Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packets on the table 3- put packets on the table 4- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on the table 2- put packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e","video":"16810367371532827886.mp4"}
+{"uid":"17106577051054682082","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the brown 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 chips from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the brown packets on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the brown packets on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the brown packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the brown 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 brown packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the brown 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","video":"2605429737727875414.mp4"}
+{"uid":"17080793157309189886","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 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 Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put 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 Q: immediate next step? \u003cPRED\u003eA: Put the orange packet on the table\n\u003c/PRED\u003e","video":"6420210940223231834.mp4"}
+{"uid":"5653793683242323323","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 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 Q: immediate next step? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 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 Q: next 5 steps? \u003cPRED\u003eA: 1- place packet on the table 2- done\n\u003c/PRED\u003e","video":"16143774637753057746.mp4"}
+{"uid":"4356843110748347077","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the houseplant which is on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2933572760157269478.mp4"}
+{"uid":"9916543905651478130","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place 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:affordance:discriminative:discrete:True\u003e\nplace 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 chips from the tray Q: immediate next step? \u003cPRED\u003eA: place packets on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table Q: immediate next step? \u003cPRED\u003eA: place packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packets on the table\n\u003c/PRED\u003e","video":"18170045312863408951.mp4"}
+{"uid":"6639686208387253404","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl on the other table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a spoon. last 20 steps: 1- place the bowl upright on the other table 2- move the bowl backward 3- place the lid on the table 4- pour the snacks in the bowl 5- place the scoop in the holder 6- place the lid on the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl on the other table 2- place the spoon in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a spoon. last 20 steps: 1- place the bowl upright on the other table 2- move the bowl backward 3- place the lid on the table 4- pour the snacks in the bowl 5- place the scoop in the holder 6- place the lid on the jar Q: immediate next step? \u003cPRED\u003eA: place the bowl on the other table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl on the other table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a spoon Q: immediate next step? \u003cPRED\u003eA: place the bowl on the other table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl 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:success:discrete:False\u003e\nplace the bowl 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":"9390191726985097644.mp4"}
+{"uid":"8338104298580545145","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black date in the transparent glass. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7741077267966227919.mp4"}
+{"uid":"1941602136900235885","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narranging in a straight way Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6888959077282855417.mp4"}
+{"uid":"6142629753255533112","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- put packets on the table Q: immediate next step? \u003cPRED\u003eA: place packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packets on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packets on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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 chips from the tray. last 20 steps: 1- put packets on the table 2- put packets on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place 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\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: place packets on the table\n\u003c/PRED\u003e","video":"10023956729258352129.mp4"}
+{"uid":"8171022530575202970","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue 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":"17041666783082601857.mp4"}
+{"uid":"16142550279010273340","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a spoon. last 20 steps: 1- place the bowl upright on the other table 2- move the bowl backward Q: immediate next step? \u003cPRED\u003eA: place the lid on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a spoon Q: immediate next step? \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: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\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a spoon. last 20 steps: 1- place the bowl upright on the other table 2- move the bowl backward Q: next 5 steps? \u003cPRED\u003eA: 1- place the lid on the table 2- pour the snacks in the bowl 3- place the scoop in the holder 4- place the lid on the jar 5- place the bowl on the other table\n\u003c/PRED\u003e","video":"10283517120068310751.mp4"}
+{"uid":"17432930227578017745","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13245202483281176775.mp4"}
+{"uid":"12815440342069275442","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":"10885528846261143074.mp4"}
+{"uid":"3940578310976224124","text":"\u003ctask:success:discrete:True\u003e\nPut the orange 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 the orange packets on the table\n\u003c/PRED\u003e","video":"13429438162980798231.mp4"}
+{"uid":"3778985564052359378","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nturn on the light Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2713096710228322578.mp4"}
+{"uid":"2880467922111529459","text":"\u003ctask:success:discrete:True\u003e\nplace the lid on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 lid on the table\n\u003c/PRED\u003e","video":"16795164233905284544.mp4"}
+{"uid":"12816959735150308881","text":"\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 chips from the tray 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\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 chips from the tray. last 20 steps: 1- put packets on the table Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- 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","video":"11265098379988735830.mp4"}
+{"uid":"8800150614374885388","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":"3650629409892092276.mp4"}
+{"uid":"8547672627228260636","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packets on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13953357525503789142.mp4"}
+{"uid":"6547335995939120310","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a spoon. last 20 steps: 1- place the bowl upright on the other table 2- move the bowl backward 3- place the lid on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pour the snacks in the bowl 2- place the scoop in the holder 3- place the lid on the jar 4- place the bowl on the other table 5- place the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour the snacks in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour the 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:success:discrete:False\u003e\npour the 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: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a spoon Q: immediate next step? \u003cPRED\u003eA: pour the snacks in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour the snacks in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a spoon. last 20 steps: 1- place the bowl upright on the other table 2- move the bowl backward 3- place the lid on the table Q: immediate next step? \u003cPRED\u003eA: pour the snacks in the bowl\n\u003c/PRED\u003e","video":"4180574481115356922.mp4"}
+{"uid":"5431474758503008379","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lid on the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:planning:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a spoon Q: immediate next step? \u003cPRED\u003eA: place the lid on the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lid on the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the lid on the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a spoon. last 20 steps: 1- place the bowl upright on the other table 2- move the bowl backward 3- place the lid on the table 4- pour the snacks in the bowl 5- place the scoop in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the lid on the jar 2- place the bowl on the other table 3- place the spoon in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please grab a bowl from the counter and scoop me some cheese balls. Also can you grab me a spoon. last 20 steps: 1- place the bowl upright on the other table 2- move the bowl backward 3- place the lid on the table 4- pour the snacks in the bowl 5- place the scoop in the holder Q: immediate next step? \u003cPRED\u003eA: place the lid on the jar\n\u003c/PRED\u003e","video":"13760561772375901049.mp4"}
+{"uid":"12098281242722712187","text":"\u003ctask:success:discrete:True\u003e\nplace 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 packets on the table\n\u003c/PRED\u003e","video":"8973229023836069288.mp4"}
+{"uid":"12365669804945976631","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachio in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4551903425261921514.mp4"}
+{"uid":"18062713816090129577","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lid on the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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":"15925208944029981355.mp4"}
+{"uid":"12461911204050569308","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the chips from the tray. last 20 steps: 1- put packets on the table 2- 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\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 chips from the tray. last 20 steps: 1- put packets on the table 2- 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\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packets on the table\n\u003c/PRED\u003e","video":"1569093681330878282.mp4"}
+{"uid":"13010605982255146564","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace chair under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5272196204228810368.mp4"}
+{"uid":"6365326535247779789","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the marker 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\u003ctask:affordance:discriminative:discrete:False\u003e\nput the water glass on the recycle bin table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7020963630951812121.mp4"}
+{"uid":"18211958589262090920","text":"\u003ctask:success:discrete:True\u003e\nArrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e","video":"2039414803588630067.mp4"}
+{"uid":"271678746082245654","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\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"17054788317625823776.mp4"}
+{"uid":"4741709101678660686","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs Q: immediate next step? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the chair 2- place chair under the table 3- place chair under the table 4- place chair under the table 5- move the chair under  the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table Q: immediate next step? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e","video":"7244145572490691349.mp4"}
+{"uid":"955536587790360210","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown colour 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":"13795868469468740733.mp4"}
+{"uid":"14666961907540342919","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the chair 2- place chair under the table 3- place chair under the table 4- move the chair under  the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table Q: immediate next step? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nArrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs Q: immediate next step? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e","video":"1993423031799529929.mp4"}
+{"uid":"10866872086292672740","text":"\u003ctask:success:discrete:True\u003e\nplace chair under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e","video":"17572131205830109498.mp4"}
+{"uid":"2645879913989789418","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table 4- place chair under the table 5- place chair under the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nArrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs Q: immediate next step? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e","video":"5959069478089493354.mp4"}
+{"uid":"5314760534495221226","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":"12266665974214758633.mp4"}
+{"uid":"12373917575631561682","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":"17890370911863918933.mp4"}
+{"uid":"15226413962990051310","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table 4- place chair under the table 5- place chair under the table 6- place chair under the table 7- move the chair under  the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the chair under  the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table 4- place chair under the table 5- place chair under the table 6- place chair under the table 7- move the chair under  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: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14838441742166356014.mp4"}
+{"uid":"9327963647470549578","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs Q: immediate next step? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace chair under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table 4- place chair under the table 5- place chair under the table Q: next 5 steps? \u003cPRED\u003eA: 1- place chair under the table 2- move the chair under  the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table 4- place chair under the table 5- place chair under the table Q: immediate next step? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e","video":"15189055521314108034.mp4"}
+{"uid":"3124308610384127110","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs Q: immediate next step? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace chair under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table 4- place chair under the table 5- place chair under the table 6- place chair under the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the chair under  the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table 4- place chair under the table 5- place chair under the table 6- place chair under the table Q: immediate next step? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the chair under  the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the chair under  the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3168017575107657105.mp4"}
+{"uid":"11238622396934368434","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nArrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace chair under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12867694269056316248.mp4"}
+{"uid":"8459088077133328460","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the chair under  the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs Q: immediate next step? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move the chair under  the table 2- move the chair under  the table 3- place chair under the table 4- place chair under the table 5- place chair under the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the chair under  the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e","video":"2215031862150392464.mp4"}
+{"uid":"3332406798538255361","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs Q: immediate next step? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace chair under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place chair under the table 2- move the chair under  the table 3- place chair under the table 4- place chair under the table 5- place chair under the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace chair under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"904424317560309327.mp4"}
+{"uid":"6862058872170668747","text":"\u003ctask:success:discrete:True\u003e\nArrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table 4- place chair under the table 5- place chair under the table 6- place chair under the table 7- Arrange the chair Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table 4- place chair under the table 5- place chair under the table 6- place chair under the table 7- Arrange the chair Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e","video":"10953240097326740311.mp4"}
+{"uid":"10748706325138570031","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs Q: immediate next step? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table Q: immediate next step? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace chair under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table Q: next 5 steps? \u003cPRED\u003eA: 1- place chair under the table 2- place chair under the table 3- place chair under the table 4- move the chair under  the table 5- done\n\u003c/PRED\u003e","video":"1207285651620709530.mp4"}
+{"uid":"2270249215469223471","text":"\u003ctask:success:discrete:True\u003e\nArrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e","video":"14331867001657117822.mp4"}
+{"uid":"5551555452059921858","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nArrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16459742628293300413.mp4"}
+{"uid":"2892723742993553009","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table 4- place chair under the table Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the chair 2- place chair under the table 3- move the chair under  the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs Q: immediate next step? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table 4- place chair under the table Q: immediate next step? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e","video":"10865016565722295763.mp4"}
+{"uid":"14100971399602344802","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen the right 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":"3490889817169648780.mp4"}
+{"uid":"7450100680256551096","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop yellow 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":"18190405041489179637.mp4"}
+{"uid":"9664706437421133240","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the can form the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13449803007723728504.mp4"}
+{"uid":"12028392777803467479","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs Q: immediate next step? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace chair under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table 4- place chair under the table 5- place chair under the table 6- place chair under the table Q: next 5 steps? \u003cPRED\u003eA: 1- place chair under the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table 4- place chair under the table 5- place chair under the table 6- place chair under the table Q: immediate next step? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e","video":"2579189457266408508.mp4"}
+{"uid":"3340482401202426684","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs Q: immediate next step? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair Q: next 5 steps? \u003cPRED\u003eA: 1- place chair under the table 2- place chair under the table 3- place chair under the table 4- place chair under the table 5- move the chair under  the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair Q: immediate next step? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace chair under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10931123339769040218.mp4"}
+{"uid":"16776022194146973355","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet on 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":"2699000680885132513.mp4"}
+{"uid":"14493203066986566560","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":"13595670862949940600.mp4"}
+{"uid":"10908753548150981373","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs Q: immediate next step? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table 4- place chair under the table 5- place chair under the table 6- place chair under the table Q: immediate next step? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table 4- place chair under the table 5- place chair under the table 6- place chair under the table Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the chair 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7075225016070172468.mp4"}
+{"uid":"9038353692946863219","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white bag into the glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17738358898086979267.mp4"}
+{"uid":"1599688888498287150","text":"\u003ctask:success:discrete:True\u003e\nplace chair under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e","video":"16910129046325972024.mp4"}
+{"uid":"2220627846078847010","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair Q: immediate next step? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs Q: immediate next step? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the chair 2- place chair under the table 3- place chair under the table 4- place chair under the table 5- place chair under the table\n\u003c/PRED\u003e","video":"890322037154278274.mp4"}
+{"uid":"202607805881662343","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace fork on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6627329213755907865.mp4"}
+{"uid":"14552689388422868689","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":"14632017156500965009.mp4"}
+{"uid":"2646217703665084524","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table 4- place chair under the table 5- place chair under the table Q: next 5 steps? \u003cPRED\u003eA: 1- Arrange the chair 2- move the chair under  the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs Q: immediate next step? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table 4- place chair under the table 5- place chair under the table Q: immediate next step? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs Q: immediate next step? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table 4- place chair under the table 5- place chair under the table Q: immediate next step? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the chair under  the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the chair under  the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nArrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table 4- place chair under the table 5- place chair under the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the chair under  the table 2- move the chair under  the table 3- done\n\u003c/PRED\u003e","video":"1940636189205211613.mp4"}
+{"uid":"6830338100076795923","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nArrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13088490876295800443.mp4"}
+{"uid":"10297845045434041271","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":"10718193932532529524.mp4"}
+{"uid":"3318740804236261698","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pink sugar 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":"14676024566947176092.mp4"}
+{"uid":"7057211813691525161","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table 4- place chair under the table 5- place chair under the table 6- place chair under the table 7- place chair under the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table 4- place chair under the table 5- place chair under the table 6- place chair under the table 7- place chair under the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace chair under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e","video":"15896556228857494635.mp4"}
+{"uid":"10955838553353079727","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the black pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13181163445401870974.mp4"}
+{"uid":"8703500474093001262","text":"\u003ctask:success:discrete:True\u003e\nArrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Arrange the chair\n\u003c/PRED\u003e","video":"11051722081275319058.mp4"}
+{"uid":"16661068870100715183","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrag the orange cable off the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8456196764507359340.mp4"}
+{"uid":"14938844153777606709","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs Q: immediate next step? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace chair under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair Q: next 5 steps? \u003cPRED\u003eA: 1- place chair under the table 2- place chair under the table 3- place chair under the table 4- place chair under the table 5- place chair under the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair Q: immediate next step? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e","video":"10830946528244035560.mp4"}
+{"uid":"17028339126338410657","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knife into the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18078358156403033220.mp4"}
+{"uid":"9907969476779206102","text":"\u003ctask:success:discrete:True\u003e\nmove the chair under  the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the chair under  the table 2- place chair under the table 3- place chair under the table 4- move the chair under  the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs Q: immediate next step? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the chair under  the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table Q: immediate next step? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e","video":"2103077048445743054.mp4"}
+{"uid":"16459358162861436682","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the chair under  the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs Q: immediate next step? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair Q: immediate next step? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the chair under  the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair Q: next 5 steps? \u003cPRED\u003eA: 1- move the chair under  the table 2- place chair under the table 3- place chair under the table 4- place chair under the table 5- move the chair under  the table\n\u003c/PRED\u003e","video":"17147459286575154461.mp4"}
+{"uid":"1306985257927185161","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace chair under the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17650627715796047334.mp4"}
+{"uid":"4654443995259121042","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm towards the tissue box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17149823648715291445.mp4"}
+{"uid":"2456736336758130044","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the chair under  the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs Q: immediate next step? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table 4- place chair under the table Q: immediate next step? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the chair under  the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table 4- place chair under the table Q: next 5 steps? \u003cPRED\u003eA: 1- place chair under the table 2- place chair under the table 3- move the chair under  the table 4- done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table 4- place chair under the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the chair under  the table 2- move the chair under  the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table 4- place chair under the table Q: immediate next step? \u003cPRED\u003eA: place chair under the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace chair under the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs Q: immediate next step? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e","video":"4180968803507012283.mp4"}
+{"uid":"18403000144458773282","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the chair under  the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs Q: immediate next step? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table Q: next 5 steps? \u003cPRED\u003eA: 1- move the chair under  the table 2- place chair under the table 3- place chair under the table 4- move the chair under  the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove the chair under  the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Prepare the Ultraviolet meeting room by tucking in all the chairs. last 20 steps: 1- Arrange the chair 2- move the chair under  the table 3- place chair under the table Q: immediate next step? \u003cPRED\u003eA: move the chair under  the table\n\u003c/PRED\u003e","video":"4501317467158093580.mp4"}
+{"uid":"10565641676456429766","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white bag 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":"1464988405198027963.mp4"}
+{"uid":"6212977006634966136","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. 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: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 place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet on the table 2- put the green packet on the table 3- put the popcorn packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 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":"4904634387897067502.mp4"}
+{"uid":"9986019251921482512","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the bowl 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. 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: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: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":"12369463920174414034.mp4"}
+{"uid":"10405927229356708245","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a spoon 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\nplace a spoon in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place a spoon in bowl 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e","video":"17638091689347350440.mp4"}
+{"uid":"10791783000027865367","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":"11690595190849421010.mp4"}
+{"uid":"16800153683807327391","text":"\u003ctask:success:discrete:True\u003e\nput the spoon in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e","video":"2422251776949656140.mp4"}
+{"uid":"3095905186090254616","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table 12- put the blue packet on the table 13- put the green packet on the table 14- put the popcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table 12- put the blue packet on the table 13- put the green packet on the table 14- put the popcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10983947447587266610.mp4"}
+{"uid":"12175562397356134970","text":"\u003ctask:success:discrete:True\u003e\nplace a blue packet on right black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a blue packet on right black table\n\u003c/PRED\u003e","video":"11938987863178030886.mp4"}
+{"uid":"11473874029614998869","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table 12- put the blue packet on the table 13- put the green packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the green packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table 12- put the blue packet on the table 13- put the green packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16124784376700549986.mp4"}
+{"uid":"11196954122833218909","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the blue can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3234297632605766966.mp4"}
+{"uid":"13309018039425630296","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a spoon in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place a spoon in bowl 2- put the white packet on the table 3- put the blue packet on the table 4- put the green packet on the table 5- put the popcorn packet on the table\n\u003c/PRED\u003e","video":"17323419856140599814.mp4"}
+{"uid":"1605733324229998390","text":"\u003ctask:success:discrete:False\u003e\nput the spoon in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl\n\u003c/PRED\u003e","video":"9978932729117344669.mp4"}
+{"uid":"13287706487083212386","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a spoon 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":"11293502954746392655.mp4"}
+{"uid":"3104827701172065679","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":"2413831916596613850.mp4"}
+{"uid":"5146922267043678201","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":"5466528148818140455.mp4"}
+{"uid":"16497045549562134518","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a spoon 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":"5490325671934525946.mp4"}
+{"uid":"12705420315069854885","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","video":"670063879037110557.mp4"}
+{"uid":"10018885933697447115","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1193183613986431661.mp4"}
+{"uid":"1022907378805119269","text":"\u003ctask:success:discrete:True\u003e\nput the brown packet in the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the brown packet in the white table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table 12- put the blue packet on the table 13- put the green packet on the table 14- put the brown packet in the white table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table 12- put the blue packet on the table 13- put the green packet on the table 14- put the brown packet in the white table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15938674274566622167.mp4"}
+{"uid":"15061014270914428482","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"3153183444401836939.mp4"}
+{"uid":"4184823681308176998","text":"\u003ctask:success:discrete:True\u003e\nput the spoon in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e","video":"9047113390586728940.mp4"}
+{"uid":"15072853299284380878","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the silver packet in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12748258037451690030.mp4"}
+{"uid":"16275712917006317158","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the bowl 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask: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":"4022185982445874211.mp4"}
+{"uid":"7456414973446777142","text":"\u003ctask:success:discrete:True\u003e\nput the 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the bowl 2- put the spoon in the bowl 3- put the white packet on the table 4- put the blue packet on the table 5- put the green packet on the table\n\u003c/PRED\u003e","video":"11866879031357374070.mp4"}
+{"uid":"13393070545303272581","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 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 place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the white packet on the table 2- put the blue packet on the table 3- put the green packet on the table 4- put the popcorn packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. 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","video":"5456102035898359421.mp4"}
+{"uid":"3718536227939929309","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a spoon 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":"15239189922456946023.mp4"}
+{"uid":"17825456906014547593","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass Q: immediate next step? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a spoon in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place a spoon in bowl 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e","video":"4850637974361722503.mp4"}
+{"uid":"14630581771295346994","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. 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 place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the bowl 2- put the white packet on the table 3- put the blue packet on the table 4- put the green packet on the table 5- put the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16933191838707265106.mp4"}
+{"uid":"10507324491455590421","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":"9270963283859815224.mp4"}
+{"uid":"5342786933755738198","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":"995883616995346424.mp4"}
+{"uid":"12599634642913998826","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: place a white packet on left black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a white packet on left black table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place a white packet on left black table 2- put the blue packet on the table 3- put the green packet on the table 4- put the popcorn packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a white packet on left black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: place a white packet on left black table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a white packet on left black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a white packet on left black table\n\u003c/PRED\u003e","video":"8377908939038870755.mp4"}
+{"uid":"18113556691626237960","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":"7907583571949285897.mp4"}
+{"uid":"9692219922154389551","text":"\u003ctask:success:discrete:True\u003e\nput the 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e","video":"5177194990061090950.mp4"}
+{"uid":"10211467738832187863","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e","video":"10223569472836063603.mp4"}
+{"uid":"3064011050537323679","text":"\u003ctask:success:discrete:True\u003e\nput the 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 place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask: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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the bowl 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e","video":"15648272275991027097.mp4"}
+{"uid":"17643541975295224142","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass Q: immediate next step? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the bowl 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the 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:affordance:discriminative:discrete:True\u003e\nput the spoon in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14780081212993351670.mp4"}
+{"uid":"15739718208447524622","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the brown packet in the white table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the brown packet in the white table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table 12- put the blue packet on the table 13- put the green packet on the table Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the white table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the brown packet in 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table 12- put the blue packet on the table 13- put the green packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the brown packet in the white table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the top drawer handle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the brown packet in the white table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: put the brown packet in the white table\n\u003c/PRED\u003e","video":"7733611134311435024.mp4"}
+{"uid":"5594891104663453291","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the package 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":"16195350621006884597.mp4"}
+{"uid":"17823279483421113786","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack 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":"7050430355705482781.mp4"}
+{"uid":"13411367071164930248","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic spoon in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3748464637599520499.mp4"}
+{"uid":"10211745454858938081","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nTake out the white 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":"10744432357972889406.mp4"}
+{"uid":"6387637266416101697","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green cup on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11872197969397993676.mp4"}
+{"uid":"8131211543005843874","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the 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":"3364614492349087830.mp4"}
+{"uid":"1783737099220599883","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet on the table 2- put the popcorn packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table Q: immediate next step? \u003cPRED\u003eA: put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10238416912185362260.mp4"}
+{"uid":"13748749028359215443","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table 12- put the blue packet on the table 13- put the green packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the popcorn packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: put the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the popcorn packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table 12- put the blue packet on the table 13- put the green packet on the table Q: immediate next step? \u003cPRED\u003eA: put the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the green packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the popcorn packet on the table\n\u003c/PRED\u003e","video":"9654920115584404544.mp4"}
+{"uid":"9373624114765171367","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the packets 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":"5096082995464265846.mp4"}
+{"uid":"12249118912216605004","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"5820884783840865894.mp4"}
+{"uid":"13207648311271076553","text":"\u003ctask:success:discrete:True\u003e\nput the 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a spoon in bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the bowl 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e","video":"9429102387808393740.mp4"}
+{"uid":"5480323018111763447","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table 12- put the blue packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the green packet on the table 2- put the popcorn packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: put the green packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table 12- put the blue packet on the table Q: immediate next step? \u003cPRED\u003eA: put the green packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green packet on the table\n\u003c/PRED\u003e","video":"7374996362608251408.mp4"}
+{"uid":"16270956861121266184","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3751468610619407150.mp4"}
+{"uid":"7964765783655805659","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":"1469274229237725090.mp4"}
+{"uid":"3904327011798671283","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":"3438096633412954128.mp4"}
+{"uid":"1611724733415138361","text":"\u003ctask:success:discrete:True\u003e\nplace a spoon 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: place a spoon in bowl\n\u003c/PRED\u003e","video":"9048813197226219186.mp4"}
+{"uid":"12948479050491782988","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the glass 2- put the white packet on the table 3- put the blue packet on the table 4- put the green packet on the table 5- put the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e","video":"2094095199805604586.mp4"}
+{"uid":"15929396274986611246","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- 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 spoon in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e","video":"5498997394330688725.mp4"}
+{"uid":"12464554681751214802","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":"8255861465138639459.mp4"}
+{"uid":"7292102757808623662","text":"\u003ctask:success:discrete:True\u003e\nput the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the bowl 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e","video":"8402394080267182385.mp4"}
+{"uid":"2965047844312082693","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the white packet on the table 4- put the blue packet on the table 5- put the green packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e","video":"10746004814150927338.mp4"}
+{"uid":"294130648850654863","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the blue packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2398807235393620148.mp4"}
+{"uid":"18050397250079454532","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a green packet on left white empty table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a green packet on left white empty table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a green packet on left white empty table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table 12- put the blue packet on the table Q: immediate next step? \u003cPRED\u003eA: place a green packet on left white empty table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a green packet on left white empty table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: place a green packet on left white empty table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table 12- put the blue packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place a green packet on left white empty table 2- done\n\u003c/PRED\u003e","video":"532553652110429883.mp4"}
+{"uid":"15755613114201206992","text":"\u003ctask:success:discrete:True\u003e\nplace a browned packet on empty table near plants Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table 12- put the blue packet on the table 13- put the green packet on the table 14- place a browned packet on empty table near plants Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table 12- put the blue packet on the table 13- put the green packet on the table 14- place a browned packet on empty table near plants Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a browned packet on empty table near plants\n\u003c/PRED\u003e","video":"8561312939260110199.mp4"}
+{"uid":"9742767269274026208","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a spoon in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place a spoon in bowl 2- put the white packet on the table 3- put the blue packet on the table 4- put the green packet on the table 5- put the popcorn packet on the table\n\u003c/PRED\u003e","video":"11216874504287037124.mp4"}
+{"uid":"16004788975279242164","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the turkey stick in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6211408340043854391.mp4"}
+{"uid":"3058223614997418221","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":"3971632600068735196.mp4"}
+{"uid":"16346511246107096799","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the white packet on the table 5- put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e","video":"893552117834171946.mp4"}
+{"uid":"14406193547833250430","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8159734159684195675.mp4"}
+{"uid":"12818176161677968646","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table 12- put the blue packet on the table 13- put the green packet on the table Q: immediate next step? \u003cPRED\u003eA: place a browned packet on empty table near plants\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: place a browned packet on empty table near plants\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table 12- put the blue packet on the table 13- put the green packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place a browned packet on empty table near plants 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a browned packet on empty table near plants\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a browned packet on empty table near plants Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a browned packet on empty table near plants Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a browned packet on empty table near plants\n\u003c/PRED\u003e","video":"18067133632634802649.mp4"}
+{"uid":"18099830075388677797","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":"921806932316786775.mp4"}
+{"uid":"17922864232596174358","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a white packet on left black table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace a white packet on left black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12340207237179356904.mp4"}
+{"uid":"9461385839843548206","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place a spoon in bowl 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the white packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a spoon in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e","video":"12220816037807260277.mp4"}
+{"uid":"16884668251444034151","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":"3747086343210510598.mp4"}
+{"uid":"17743126549227714564","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place a spoon in bowl 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a spoon in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12182012678112996734.mp4"}
+{"uid":"17051586686253026717","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the glass 2- put the white packet on the table 3- put the blue packet on the table 4- put the green packet on the table 5- put the popcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e","video":"7992135969848519111.mp4"}
+{"uid":"6330926186566701198","text":"\u003ctask:success:discrete:True\u003e\nplace a spoon 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: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the spoon in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16011791586771628828.mp4"}
+{"uid":"9333855303859116033","text":"\u003ctask:success:discrete:True\u003e\nplace a spoon 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: place a spoon in bowl\n\u003c/PRED\u003e","video":"5021548846770366722.mp4"}
+{"uid":"1863993239003489266","text":"\u003ctask:success:discrete:True\u003e\nplace a green packet on left white empty table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table 12- put the blue packet on the table 13- place a green packet on left white empty table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place a green packet on left white empty table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table 12- put the blue packet on the table 13- place a green packet on left white empty table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"514182881742890301.mp4"}
+{"uid":"17385253987221852028","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the bowl 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the white packet on the table 5- put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the 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","video":"16331749166966731639.mp4"}
+{"uid":"13723702391828707454","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the stapler on the rack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3815408075189646905.mp4"}
+{"uid":"9454067828648894353","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue packet on the table\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\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue packet on the table 2- put the green packet on the table 3- put the popcorn packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: put the blue packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue packet on the table\n\u003c/PRED\u003e","video":"974140966704295052.mp4"}
+{"uid":"9747576200672509789","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":"8636473134553500451.mp4"}
+{"uid":"802900785568471566","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green pen 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":"17748579019680410546.mp4"}
+{"uid":"13832011108482191832","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"8692162597320254688.mp4"}
+{"uid":"14800046063562785665","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the bowl 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the white packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete: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\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7991822499507286882.mp4"}
+{"uid":"13074325067597286466","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet on 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":"6326417297677645002.mp4"}
+{"uid":"5513620887811474337","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the chair facing 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":"7259412802088950146.mp4"}
+{"uid":"12049621885591401400","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the spoon in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl\n\u003c/PRED\u003e","video":"5395022781890287194.mp4"}
+{"uid":"9726962946116398107","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a spoon in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place a spoon in bowl 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the white packet on the table 5- put the blue packet on the table\n\u003c/PRED\u003e","video":"4147100652621888295.mp4"}
+{"uid":"5616920227048991832","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the carrot 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":"15280252028215453685.mp4"}
+{"uid":"18343238667199717954","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: put the green packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table 12- put the blue packet on the table Q: immediate next step? \u003cPRED\u003eA: put the green packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table 12- put the blue packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the green 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 the green packet on the table\n\u003c/PRED\u003e","video":"6840668360877322910.mp4"}
+{"uid":"4888541771037121099","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place a spoon in bowl 2- put the spoon in the bowl 3- put the white packet on the table 4- put the blue packet on the table 5- put the green packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a spoon in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"509794857875866498.mp4"}
+{"uid":"12813823523541486008","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: place a blue packet on right black table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table Q: immediate next step? \u003cPRED\u003eA: place a blue packet on right black table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace a blue packet on right black table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a blue packet on right black table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl 6- put the spoon in the bowl 7- put the spoon in the bowl 8- put the spoon in the bowl 9- put the spoon in the bowl 10- put the spoon in the bowl 11- put the white packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place a blue packet on right black table 2- put the popcorn packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a blue packet on right black table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a blue packet on right black table\n\u003c/PRED\u003e","video":"12956616479219853668.mp4"}
+{"uid":"8039633788604501346","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a spoon 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: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place a spoon in bowl 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl\n\u003c/PRED\u003e","video":"8223196171403874810.mp4"}
+{"uid":"6937007807562707265","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp 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":"17207969398413184587.mp4"}
+{"uid":"11133104742234161718","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7724402354129227458.mp4"}
+{"uid":"9313108095830746109","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":"15370008131207760506.mp4"}
+{"uid":"11440310654788859548","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":"11313363666787278780.mp4"}
+{"uid":"12262642565711337298","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into the large bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15785511513204920857.mp4"}
+{"uid":"10971821261489155206","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. Q: immediate next step? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a spoon in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place utensils in bin and then distribute the snacks to tables. last 20 steps: 1- put the spoon in the glass 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place a spoon in bowl 2- put the spoon in the bowl 3- put the spoon in the bowl 4- put the spoon in the bowl 5- put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a spoon in bowl\n\u003c/PRED\u003e","video":"341331484653580993.mp4"}
+{"uid":"7806381249308732985","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":"8282777293746583070.mp4"}
+{"uid":"2263334436204801204","text":"\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"17774441293537174813.mp4"}
+{"uid":"4431504071573860645","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the redbull can on the table 2- put can on the table 3- place the can on the table 4- put can on the table 5- place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12128423299718546577.mp4"}
+{"uid":"3499867826434985500","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the redbull can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table\n\u003c/PRED\u003e","video":"4015905940746780221.mp4"}
+{"uid":"6193176072435605407","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- 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:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"9116177696927996571.mp4"}
+{"uid":"8509565522087166453","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nslide the glass upward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"232797496374129432.mp4"}
+{"uid":"14615915401038374286","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4442317627223149765.mp4"}
+{"uid":"10143366973216836829","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table 6- place the redbull can on the table 7- place the redbull can on the table 8- place the redbull can 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 red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table 6- place the redbull can on the table 7- place the redbull can on the table 8- place the redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17012956206788536518.mp4"}
+{"uid":"17096857828134223387","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the redbull can on the table 2- place the redbull can on the table 3- place the redbull can on the table 4- put can on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e","video":"15624482840491535448.mp4"}
+{"uid":"10519460693715384383","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the 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":"9246086117746583576.mp4"}
+{"uid":"16423787489020520683","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen fridge right 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":"972746291940162445.mp4"}
+{"uid":"12474173249047935863","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14709258352913051357.mp4"}
+{"uid":"13239406628101989145","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1121192965351176453.mp4"}
+{"uid":"17404979426139162538","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table 6- place the redbull can on the table 7- place the redbull can on the table Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table 6- place the redbull can on the table 7- place the redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the redbull can on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e","video":"7084608219578237528.mp4"}
+{"uid":"14083754191230664443","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10076114272621726031.mp4"}
+{"uid":"625169559769820580","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the redbull can on the table 2- place the can on the table 3- put can on the table 4- place the redbull can on the table 5- place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5471869317651714743.mp4"}
+{"uid":"8114715038570057098","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in the brown bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16773786987831067768.mp4"}
+{"uid":"14676540124705778250","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nAdjust the forks holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17578584526883721688.mp4"}
+{"uid":"5964060101009943295","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13570169266730396703.mp4"}
+{"uid":"2242162703867146649","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- place the redbull can on the table 3- place the redbull can on the table 4- put can on the table 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the 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","video":"2007987504196444770.mp4"}
+{"uid":"328106157338258270","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":"4069873557244261401.mp4"}
+{"uid":"14576863897657175851","text":"\u003ctask:success:discrete:True\u003e\nplace the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e","video":"9515937739056348704.mp4"}
+{"uid":"7926905377665499806","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the redbull can on the table 2- put can on the table 3- place the redbull can on the table 4- place the redbull can on the table 5- put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e","video":"14630360342507042239.mp4"}
+{"uid":"16086836223532180204","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table 6- place the redbull can on the table 7- place the redbull can on the table 8- put can 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 red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table 6- place the redbull can on the table 7- place the redbull can on the table 8- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3408108768565795244.mp4"}
+{"uid":"9496424037092063050","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8777434599822649397.mp4"}
+{"uid":"14012871909724222880","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- put can on the table 3- place the redbull can on the table 4- place the redbull can on the table 5- put can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"17137034436602681990.mp4"}
+{"uid":"9507112045902516783","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":"3621590628883115797.mp4"}
+{"uid":"17605148344459776977","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"17243200864831391797.mp4"}
+{"uid":"3747055581373107150","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table 6- place the redbull can on the table 7- place the redbull can on the table 8- place the can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table 6- place the redbull can on the table 7- place the redbull can on the table 8- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10854563207185314378.mp4"}
+{"uid":"5825008158396916263","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- place the redbull can on the table 3- place the redbull can on the table 4- put can on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"2930435058132852657.mp4"}
+{"uid":"7832959032167397608","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table 6- place the redbull can on the table 7- place the redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table 6- place the redbull can on the table 7- place the redbull can on the table Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"4208317340537901290.mp4"}
+{"uid":"210326226383033078","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table 6- place the redbull can on the table Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table 6- place the redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the redbull can on the table 2- put can on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e","video":"7108098022786590903.mp4"}
+{"uid":"13167898219484164598","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7360248627810720647.mp4"}
+{"uid":"16672687636864698222","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":"1969544917325448825.mp4"}
+{"uid":"9191321903100081646","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the redbull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the redbull can on the table 2- place the redbull can on the table 3- put can on the table 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e","video":"2542345483372306203.mp4"}
+{"uid":"15384923859441436241","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove red pens 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":"9887075028344751794.mp4"}
+{"uid":"2893535130887666960","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table 6- place the redbull can on the table 7- place the redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table 6- place the redbull can on the table 7- place the redbull can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"15603057546161408666.mp4"}
+{"uid":"15133579217815808654","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- put can on the table 3- place the can on the table 4- put can on the table 5- place the redbull can on the table\n\u003c/PRED\u003e","video":"11397650787743092065.mp4"}
+{"uid":"17437951561753415537","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pip corn packets on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1174525725732254231.mp4"}
+{"uid":"5546213073050443182","text":"\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"7726389868629966142.mp4"}
+{"uid":"11766796654676259161","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18047315393111063424.mp4"}
+{"uid":"9097614777510254919","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11367571489787139907.mp4"}
+{"uid":"10069206804045944914","text":"\u003ctask:success:discrete:False\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- place the redbull can on the table 3- put can on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"15800769272308521472.mp4"}
+{"uid":"1252544771921672016","text":"\u003ctask:success:discrete:True\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"2349864280412702581.mp4"}
+{"uid":"9170300408427110811","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the yellow 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":"11210580522203529394.mp4"}
+{"uid":"2968055469658531494","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12491572027251173198.mp4"}
+{"uid":"1055255376662075408","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray 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: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- put can on the table 3- place the redbull can on the table 4- place the redbull can on the table 5- put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1417033413720384404.mp4"}
+{"uid":"15253233257076444346","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the rightmost 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":"11269093216705427202.mp4"}
+{"uid":"2622845824114381880","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":"17414767494999396533.mp4"}
+{"uid":"38908585640880270","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table 6- place the redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- put can on the table 3- done\n\u003c/PRED\u003e\u003ctask: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table 6- place the redbull 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: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"15986260172817041611.mp4"}
+{"uid":"13780159771601524918","text":"\u003ctask:success:discrete:True\u003e\nplace the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e","video":"6495812349970206105.mp4"}
+{"uid":"17449938023820192907","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachio in cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4667244683710818053.mp4"}
+{"uid":"16406957489815538213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the plastic Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8187759936944726433.mp4"}
+{"uid":"10746608587983424352","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"483707415918811891.mp4"}
+{"uid":"14043952925903966630","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput candy in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14624088652081379595.mp4"}
+{"uid":"16586730973846101797","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop fork into coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4071888225517186661.mp4"}
+{"uid":"12928076332835310567","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- place the can on the table 3- put can on the table 4- place the redbull can on the table 5- place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"9085253673874434530.mp4"}
+{"uid":"918046187361231367","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9170360739669894566.mp4"}
+{"uid":"1422781656990975402","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":"15680630582406970268.mp4"}
+{"uid":"13293150811099111109","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput stone in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3335528708632888161.mp4"}
+{"uid":"15696403038983046910","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- place the can on the table 3- put can on the table 4- place the redbull can on the table 5- place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray 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","video":"13628740629830568545.mp4"}
+{"uid":"4523765557401659046","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":"9499519295995005666.mp4"}
+{"uid":"10443655444128775714","text":"\u003ctask:success:discrete:True\u003e\nplace the redbull can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the redbull can on the table\n\u003c/PRED\u003e","video":"5546581946444038899.mp4"}
+{"uid":"2823241698667405551","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"3430200287574856371.mp4"}
+{"uid":"13629301603570396885","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put can on the table 2- place the redbull can on the table 3- put can on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"11792915582825183389.mp4"}
+{"uid":"2569490457362025596","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- 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: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: please remove the red bull from the tray. last 20 steps: 1- put 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 can on the table 4- put can on the table 5- place the redbull can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: put can on the table\n\u003c/PRED\u003e","video":"14804914772819206061.mp4"}
+{"uid":"15521701312262329977","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table 6- place the redbull can on the table Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: 1- put can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table 6- place the redbull can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- put can on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e","video":"15417270180577946027.mp4"}
+{"uid":"15739752180333837449","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please remove the red bull from the tray Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the can on the table 2- put can on the table 3- put can on the table 4- place the can on the table 5- put can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please remove the red bull from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6710167459643649608.mp4"}
+{"uid":"15262764618333724471","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange in large bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10691100029592008261.mp4"}
+{"uid":"12510751693009522632","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet into drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet into drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into 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 top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet into drawer 2- Place the green white packet inside the drawer 3- drop packet into drawer 4- drop packet into drawer 5- push the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer Q: immediate next step? \u003cPRED\u003eA: drop packet into drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: drop packet into drawer\n\u003c/PRED\u003e","video":"7651756424845948303.mp4"}
+{"uid":"6646955839219965290","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the nut 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":"16766952172363277372.mp4"}
+{"uid":"5921108642715829185","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork spoon in left glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8514459916585275842.mp4"}
+{"uid":"16115761779717043090","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the 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","video":"9946809472178998727.mp4"}
+{"uid":"2899480481704151903","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust 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":"10756729149866492266.mp4"}
+{"uid":"12356870869632709451","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the green white packet inside the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer Q: immediate next step? \u003cPRED\u003eA: Place the green white packet inside the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the green white packet inside the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the green white packet inside the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Place the green white packet inside the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the green white packet inside 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 top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green white packet inside the drawer 2- drop packet into drawer 3- drop packet into drawer 4- push the drawer 5- Move the basket stand forward\n\u003c/PRED\u003e","video":"14520108990961125834.mp4"}
+{"uid":"17910063577189744689","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the green packet inside the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the green packet inside 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 top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green packet inside the drawer 2- drop packet into drawer 3- Place the green white packet inside the drawer 4- drop packet into drawer 5- drop packet into drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the green packet inside 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: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer Q: immediate next step? \u003cPRED\u003eA: Place the green packet inside the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Place the green packet inside the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the green packet inside the drawer\n\u003c/PRED\u003e","video":"8589687179206670228.mp4"}
+{"uid":"2561903781427500944","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack the 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the chocolate on the table 2- Stack the chocolate on the table 3- Stack the chocolate on the table 4- Stack the chocolate on the table 5- Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the table Q: immediate next step? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the 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: Stack the chocolate on the table\n\u003c/PRED\u003e","video":"7060872191291671009.mp4"}
+{"uid":"11550012199274985780","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":"10259719406446367577.mp4"}
+{"uid":"12478369790871733281","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the powder 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":"12295459453539635648.mp4"}
+{"uid":"15252921017205714142","text":"\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: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer 4- Place the green white packet inside the drawer 5- drop packet into drawer 6- drop packet into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- Move the basket stand forward 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer 4- Place the green white packet inside the drawer 5- drop packet into drawer 6- drop packet into drawer Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\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":"6730561205490531668.mp4"}
+{"uid":"5089929941525932860","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the table 9- Stack the chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the chocolate on the table 2- Stack the chocolate on the table 3- Stack the chocolate on the table 4- Stack the chocolate on the table 5- Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the table 9- Stack the chocolate on the table Q: immediate next step? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e","video":"453849174428525817.mp4"}
+{"uid":"300574986803377140","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"150944812732118157.mp4"}
+{"uid":"12830831549729772142","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8103398492521674134.mp4"}
+{"uid":"3614922966239672120","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the table 9- Stack the chocolate on the table 10- Stack the chocolate on the table 11- Stack the chocolate on the table 12- Stack the chocolate on the table 13- Stack the chocolate on the table 14- Stack the chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the chocolate on the table 2- Stack the chocolate on the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the table 9- Stack the chocolate on the table 10- Stack the chocolate on the table 11- Stack the chocolate on the table 12- Stack the chocolate on the table 13- Stack the chocolate on the table 14- Stack the chocolate on the table Q: immediate next step? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the 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:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e","video":"15846876084142258278.mp4"}
+{"uid":"3633820843350928111","text":"\u003ctask:success:discrete:True\u003e\nOpen drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open drawer\n\u003c/PRED\u003e","video":"14003493015953977752.mp4"}
+{"uid":"14514392980369329995","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"1474991979587176868.mp4"}
+{"uid":"8105760303634326343","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the orange cable into the carton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15563323384538880439.mp4"}
+{"uid":"14794128103351008288","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16369027620566979868.mp4"}
+{"uid":"12819472335608516344","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":"6608690745405715775.mp4"}
+{"uid":"10757201354928535184","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":"7972714788704365108.mp4"}
+{"uid":"1393399742008558056","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet into drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop packet into 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":"14503612787229348590.mp4"}
+{"uid":"1182360987481147358","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put a green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a green jalapeno chip bag in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer Q: immediate next step? \u003cPRED\u003eA: Put a green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut a green jalapeno chip bag 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put a green jalapeno chip bag in the drawer 2- Place the green white packet inside the drawer 3- drop packet into drawer 4- drop packet into drawer 5- push the drawer\n\u003c/PRED\u003e","video":"4502333287990174920.mp4"}
+{"uid":"4329084164268908790","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a brown chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer 4- Place the green white packet inside the drawer 5- drop packet into drawer Q: immediate next step? \u003cPRED\u003eA: Put a brown chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut a brown chip bag 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer 4- Place the green white packet inside the drawer 5- drop packet into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put a brown chip bag in the drawer 2- push the drawer 3- Move the basket stand forward 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a brown chip bag 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 a brown chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put a brown chip bag in the drawer\n\u003c/PRED\u003e","video":"7736268782325155613.mp4"}
+{"uid":"10990544009477227921","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the table 9- Stack the chocolate on the table 10- Stack the chocolate on the table 11- Stack the chocolate on the table 12- Stack the chocolate on the table 13- Stack the chocolate on the table 14- Stack the chocolate on the table 15- Stack the chocolate on the table 16- Stack the chocolate on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack the 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:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the table 9- Stack the chocolate on the table 10- Stack the chocolate on the table 11- Stack the chocolate on the table 12- Stack the chocolate on the table 13- Stack the chocolate on the table 14- Stack the chocolate on the table 15- Stack the chocolate on the table 16- Stack the chocolate 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: Stack the chocolate on the table\n\u003c/PRED\u003e","video":"6917094518501332264.mp4"}
+{"uid":"1337291852275132407","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a stapler and refill it with staples Q: immediate next step? \u003cPRED\u003eA: close the stapler\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the stapler Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pins in the stapler\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the stapler Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pins in the stapler Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a stapler and refill it with staples. last 20 steps: 1- open the stapler 2- put pins in the stapler Q: immediate next step? \u003cPRED\u003eA: close the stapler\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a stapler and refill it with staples. last 20 steps: 1- open the stapler 2- put pins in the stapler Q: next 5 steps? \u003cPRED\u003eA: 1- close the stapler 2- place stapler on the left side of the table 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the stapler\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the stapler\n\u003c/PRED\u003e","video":"15473096658530424772.mp4"}
+{"uid":"2430824579959379288","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the stapler\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place stapler 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 stapler on the left side of the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace stapler 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a stapler and refill it with staples. last 20 steps: 1- open the stapler 2- put pins in the stapler 3- close the stapler Q: immediate next step? \u003cPRED\u003eA: place stapler on the left side of the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a stapler and refill it with staples Q: immediate next step? \u003cPRED\u003eA: place stapler on the left side of the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the stapler Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a stapler and refill it with staples. last 20 steps: 1- open the stapler 2- put pins in the stapler 3- close the stapler Q: next 5 steps? \u003cPRED\u003eA: 1- place stapler on the left side of the table 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace stapler 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","video":"10366436719884809610.mp4"}
+{"uid":"6220164634761586806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachios in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9293958380202351621.mp4"}
+{"uid":"13137505359634206936","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet into drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop packet into 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":"1481048846963087267.mp4"}
+{"uid":"6078420369549492434","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":"13891956542177127761.mp4"}
+{"uid":"10855385150196573412","text":"\u003ctask:success:discrete:False\u003e\nPlace the brown packet inside 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: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer 4- Place the green white packet inside the drawer 5- drop packet into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the brown packet inside the drawer 2- push the drawer 3- Move the basket stand forward 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer 4- Place the green white packet inside the drawer 5- drop packet into drawer Q: immediate next step? \u003cPRED\u003eA: Place the brown packet inside the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the brown packet inside the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Place the brown packet inside the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the brown packet inside the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the brown packet inside the drawer\n\u003c/PRED\u003e","video":"16839002332622540125.mp4"}
+{"uid":"1701490080626561553","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Stack the chocolate on the table 4- Stack the chocolate on the table 5- Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e","video":"13083487369053483149.mp4"}
+{"uid":"7179864138295473014","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the glasses on 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":"12283199843740624956.mp4"}
+{"uid":"14104183264047345155","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5807280412530382826.mp4"}
+{"uid":"15745806561632871864","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14338456841410853522.mp4"}
+{"uid":"5206905568414111256","text":"\u003ctask:success:discrete:True\u003e\nPut a blue chip bag 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 a blue chip bag in the drawer\n\u003c/PRED\u003e","video":"2842434470387747914.mp4"}
+{"uid":"7272271142024344548","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the belt Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15939657926151946530.mp4"}
+{"uid":"17794720582578032177","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the 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:affordance:discriminative:discrete:True\u003e\nPut the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table\n\u003c/PRED\u003e","video":"6664244567057031724.mp4"}
+{"uid":"3105071298249782062","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":"8112253999245852499.mp4"}
+{"uid":"9429540988365558093","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":"16339542933075497569.mp4"}
+{"uid":"1277119889359092442","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":"1780994043185304722.mp4"}
+{"uid":"2041925630228269622","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":"5390466836994954796.mp4"}
+{"uid":"10609156038792181207","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack the 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","video":"15744098951779328635.mp4"}
+{"uid":"14130087671066171996","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green packet inside the drawer 2- Place the green white packet inside the drawer 3- drop packet into drawer 4- drop packet into drawer 5- push the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Place the green packet inside the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the green packet inside the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the green packet inside 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: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer Q: immediate next step? \u003cPRED\u003eA: Place the green packet inside the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the green packet inside the drawer\n\u003c/PRED\u003e","video":"16153542350571530812.mp4"}
+{"uid":"4914924813765736209","text":"\u003ctask:success:discrete:True\u003e\nPlace the blue packet inside 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 blue packet inside the drawer\n\u003c/PRED\u003e","video":"6885974988829282260.mp4"}
+{"uid":"9740424577043716608","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet into drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: drop packet into drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet into drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into 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 top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer 4- Place the green white packet inside the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet into drawer 2- drop packet into drawer 3- push the drawer 4- Move the basket stand forward 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer 4- Place the green white packet inside the drawer Q: immediate next step? \u003cPRED\u003eA: drop packet into drawer\n\u003c/PRED\u003e","video":"7664398981191960983.mp4"}
+{"uid":"9725507151422680404","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the table 9- Stack the chocolate on the table 10- Stack the chocolate on the table 11- Stack the chocolate on the table 12- Stack the chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the chocolate on the table 2- Stack the chocolate on the table 3- Stack the chocolate on the table 4- Stack the chocolate on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the 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:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the table 9- Stack the chocolate on the table 10- Stack the chocolate on the table 11- Stack the chocolate on the table 12- Stack the chocolate on the table Q: immediate next step? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e","video":"2073584691850733512.mp4"}
+{"uid":"15758407050565557017","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer Q: immediate next step? \u003cPRED\u003eA: Put a green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a green jalapeno chip bag 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: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put a green jalapeno chip bag in the drawer 2- drop packet into drawer 3- Place the green white packet inside the drawer 4- drop packet into drawer 5- drop packet into drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut a green jalapeno chip bag 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: open the top drawer put the chips in the top drawer and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put a green jalapeno chip bag in the drawer\n\u003c/PRED\u003e","video":"3497477240013670002.mp4"}
+{"uid":"16480423127728760088","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer 4- Place the green white packet inside the drawer 5- drop packet into drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: pull the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5645233116261798519.mp4"}
+{"uid":"5968516198944307080","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet into drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer Q: immediate next step? \u003cPRED\u003eA: drop packet into drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet into drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: drop packet into drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop packet into 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: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet into drawer 2- drop packet into drawer 3- drop packet into drawer 4- push the drawer 5- Move the basket stand forward\n\u003c/PRED\u003e","video":"4978609938087030854.mp4"}
+{"uid":"3336946123478450856","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the table 9- Stack the chocolate on the table 10- Stack the chocolate on the table 11- Stack the chocolate on the table Q: immediate next step? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the table 9- Stack the chocolate on the table 10- Stack the chocolate on the table 11- Stack the chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the chocolate on the table 2- Stack the chocolate on the table 3- Stack the chocolate on the table 4- Stack the chocolate on the table 5- Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the 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","video":"5117306569675494492.mp4"}
+{"uid":"9151266618495421264","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput pins in the stapler Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a stapler and refill it with staples. last 20 steps: 1- open the stapler Q: immediate next step? \u003cPRED\u003eA: put pins in the stapler\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the stapler Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a stapler and refill it with staples Q: immediate next step? \u003cPRED\u003eA: put pins in the stapler\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pins in the stapler\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put pins in the stapler\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a stapler and refill it with staples. last 20 steps: 1- open the stapler Q: next 5 steps? \u003cPRED\u003eA: 1- put pins in the stapler 2- close the stapler 3- place stapler on the left side of the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pins in the stapler Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the stapler\n\u003c/PRED\u003e","video":"6370151202329879825.mp4"}
+{"uid":"4188094079823707096","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack the 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","video":"3508359135254622817.mp4"}
+{"uid":"8143302002567211376","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes 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":"8529557713582361958.mp4"}
+{"uid":"7344486977001306543","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a stapler and refill it with staples. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the stapler\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the stapler\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the stapler Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the stapler\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you grab a stapler and refill it with staples Q: immediate next step? \u003cPRED\u003eA: open the stapler\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you grab a stapler and refill it with staples. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the stapler 2- put pins in the stapler 3- close the stapler 4- place stapler on the left side of the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the stapler Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7723248428425480182.mp4"}
+{"uid":"15349604821713348397","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"825073919796395172.mp4"}
+{"uid":"10457763862833817505","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":"11325936452230467352.mp4"}
+{"uid":"9019044547472062917","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":"15171110616456439503.mp4"}
+{"uid":"16814573326278422416","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move the basket stand forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Move the basket stand forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the basket stand forward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer 4- Place the green white packet inside the drawer 5- drop packet into drawer 6- drop packet into drawer 7- push the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Move the basket stand forward 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer 4- Place the green white packet inside the drawer 5- drop packet into drawer 6- drop packet into drawer 7- push the drawer Q: immediate next step? \u003cPRED\u003eA: Move the basket stand forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the basket stand forward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the basket stand forward\n\u003c/PRED\u003e","video":"3429141098569436467.mp4"}
+{"uid":"14065828025842178568","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet into drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop packet into 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":"14309886341762861820.mp4"}
+{"uid":"2618595515850472031","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":"10585155603803847966.mp4"}
+{"uid":"15902461453885732245","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer 4- Place the green white packet inside the drawer Q: immediate next step? \u003cPRED\u003eA: Place the blue packet inside the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue packet inside the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue packet inside the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue packet inside the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Place the blue packet inside the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue packet inside 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: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer 4- Place the green white packet inside the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue packet inside the drawer 2- drop packet into drawer 3- push the drawer 4- Move the basket stand forward 5- done\n\u003c/PRED\u003e","video":"2827937091091462641.mp4"}
+{"uid":"3158809870989529323","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":"4389850106701356192.mp4"}
+{"uid":"13178405767808523486","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":"11374976623092314340.mp4"}
+{"uid":"13572188994116624297","text":"\u003ctask:success:discrete:True\u003e\ndrop packet into drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop packet into drawer\n\u003c/PRED\u003e","video":"8468055545045279587.mp4"}
+{"uid":"7167435978605898516","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":"11256982883346037086.mp4"}
+{"uid":"11532519749154656553","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2286194340380760831.mp4"}
+{"uid":"10644148286670236778","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer 4- Place the green white packet inside the drawer 5- drop packet into drawer 6- drop packet into drawer 7- push the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Move tray backward 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer 4- Place the green white packet inside the drawer 5- drop packet into drawer 6- drop packet into drawer 7- push the drawer Q: immediate next step? \u003cPRED\u003eA: Move tray backward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove 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:discriminative:discrete:True\u003e\nMove 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move tray backward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Move tray backward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move tray backward\n\u003c/PRED\u003e","video":"9001500504274389578.mp4"}
+{"uid":"18010273897433912689","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npush the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer 4- Place the green white packet inside the drawer 5- drop packet into drawer 6- drop packet into drawer Q: immediate next step? \u003cPRED\u003eA: push the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer 4- Place the green white packet inside the drawer 5- drop packet into drawer 6- drop packet into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- push the drawer 2- Move the basket stand forward 3- done\n\u003c/PRED\u003e","video":"14070962633800476842.mp4"}
+{"uid":"6301633275818986877","text":"\u003ctask:success:discrete:True\u003e\nPut the 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e","video":"16275334375815813955.mp4"}
+{"uid":"5620131550208974906","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":"5005589672221976921.mp4"}
+{"uid":"12824346994523107867","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":"2120814988713658575.mp4"}
+{"uid":"15905838722365919904","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e","video":"7633099891688931709.mp4"}
+{"uid":"5562982791303996579","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the table 9- Stack the chocolate on the table 10- Stack the chocolate on the table 11- Stack the chocolate on the table 12- Stack the chocolate on the table 13- Stack the chocolate on the table 14- Stack the chocolate on the table 15- Stack the chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the chocolate on the table 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the table 9- Stack the chocolate on the table 10- Stack the chocolate on the table 11- Stack the chocolate on the table 12- Stack the chocolate on the table 13- Stack the chocolate on the table 14- Stack the chocolate on the table 15- Stack the chocolate on the table Q: immediate next step? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e","video":"11096180737020228654.mp4"}
+{"uid":"3199842113743353835","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the brown packet inside the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the brown packet inside 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":"13202913957396665252.mp4"}
+{"uid":"8648391594409024177","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the 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":"137222202715819827.mp4"}
+{"uid":"9646885833477824589","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Open drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open drawer 2- drop packet into drawer 3- drop packet into drawer 4- Place the green white packet inside the drawer 5- drop packet into drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open drawer\n\u003c/PRED\u003e","video":"764646180404034681.mp4"}
+{"uid":"17607915057466945644","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e","video":"7788056749509325083.mp4"}
+{"uid":"5069861762298230620","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":"12133786610871543229.mp4"}
+{"uid":"5391539736817927924","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the alphabet tile 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":"5168347564747389947.mp4"}
+{"uid":"13029075382680146328","text":"\u003ctask:success:discrete:False\u003e\nOpen drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Open drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Open drawer 2- drop packet into drawer 3- drop packet into drawer 4- Place the green white packet inside the drawer 5- drop packet into drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Open drawer\n\u003c/PRED\u003e","video":"2768331075899192918.mp4"}
+{"uid":"9696266530477945576","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":"13736931295648066339.mp4"}
+{"uid":"6106781712787554281","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the table 9- Stack the chocolate on the table 10- Stack the chocolate on the table 11- Stack the chocolate on the table 12- Stack the chocolate on the table 13- Stack the chocolate on the table Q: immediate next step? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the table 9- Stack the chocolate on the table 10- Stack the chocolate on the table 11- Stack the chocolate on the table 12- Stack the chocolate on the table 13- Stack the chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the chocolate on the table 2- Stack the chocolate on the table 3- Stack the chocolate on the table 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the 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: Stack the chocolate on the table\n\u003c/PRED\u003e","video":"9308998241290004000.mp4"}
+{"uid":"9465887663733341073","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic spoon on the backside table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"174766750561595583.mp4"}
+{"uid":"5765339374021888798","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the bowl 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":"11589360121449885796.mp4"}
+{"uid":"9106023643293455782","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace that 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":"360590206707304487.mp4"}
+{"uid":"17856709689498469570","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12700917763330221424.mp4"}
+{"uid":"13632926396566857672","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":"3619042953666516512.mp4"}
+{"uid":"16145320079193287850","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet into drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer 4- Place the green white packet inside the drawer 5- drop packet into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet into drawer 2- push the drawer 3- Move the basket stand forward 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: drop packet into drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop packet into drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer 4- Place the green white packet inside the drawer 5- drop packet into drawer Q: immediate next step? \u003cPRED\u003eA: drop packet into drawer\n\u003c/PRED\u003e","video":"13219731893732529672.mp4"}
+{"uid":"7893704521021692730","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer 4- Place the green white packet inside the drawer 5- drop packet into drawer 6- drop packet into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Close the drawer 2- Move the basket stand forward 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer 4- Place the green white packet inside the drawer 5- drop packet into drawer 6- drop packet into drawer 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:planning:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the drawer\n\u003c/PRED\u003e","video":"12745611562322229830.mp4"}
+{"uid":"17456892602285516636","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the green white packet inside the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the green white packet inside 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":"6547648170367925330.mp4"}
+{"uid":"5642825366801986774","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tea box in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13236305400067026330.mp4"}
+{"uid":"1835421351530128340","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white packets in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13862539507317787878.mp4"}
+{"uid":"9799266039635203094","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- drop packet into drawer 2- drop packet into drawer 3- Place the green white packet inside the drawer 4- drop packet into drawer 5- drop packet into drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop packet into 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: open the top drawer put the chips in the top drawer and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: drop packet into drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop packet into 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 packet into drawer\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer Q: immediate next step? \u003cPRED\u003eA: drop packet into drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop packet into drawer\n\u003c/PRED\u003e","video":"10032769125512063588.mp4"}
+{"uid":"13181988215347755241","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop chocolate 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":"13676444975417480033.mp4"}
+{"uid":"8862790939172882471","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a blue chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a blue chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer 4- Place the green white packet inside the drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put a blue chip bag in the drawer 2- drop packet into drawer 3- push the drawer 4- Move the basket stand forward 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put a blue chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a blue chip bag in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut a blue chip bag 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: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer 4- Place the green white packet inside the drawer Q: immediate next step? \u003cPRED\u003eA: Put a blue chip bag in the drawer\n\u003c/PRED\u003e","video":"14852318850880704309.mp4"}
+{"uid":"15818329533888266649","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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","video":"12734251077902144273.mp4"}
+{"uid":"13243465395878317672","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put a green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer Q: next 5 steps? \u003cPRED\u003eA: 1- Put a green jalapeno chip bag in the drawer 2- drop packet into drawer 3- drop packet into drawer 4- push the drawer 5- Move the basket stand forward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. last 20 steps: 1- pull the drawer 2- drop packet into drawer 3- drop packet into drawer Q: immediate next step? \u003cPRED\u003eA: Put a green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put a green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: open the top drawer put the chips in the top drawer and close the top drawer. Q: immediate next step? \u003cPRED\u003eA: Put a green jalapeno chip bag in the drawer\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut a green jalapeno chip bag in the drawer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut a green jalapeno chip bag 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","video":"3663455522439095165.mp4"}
+{"uid":"7262185669622426889","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e","video":"4719005673965326278.mp4"}
+{"uid":"18099605420358445881","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Stack the chocolate on the table 5- Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e","video":"10910557003515277050.mp4"}
+{"uid":"5348165229548004215","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":"14747228262525681924.mp4"}
+{"uid":"15480272863220527947","text":"\u003ctask:success:discrete:True\u003e\npull 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: pull the drawer\n\u003c/PRED\u003e","video":"15710884025083898738.mp4"}
+{"uid":"18048382602604213482","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the chocolate on the table 2- Stack the chocolate on the table 3- Stack the chocolate on the table 4- Stack the chocolate on the table 5- Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table Q: immediate next step? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the chocolate on the table\n\u003c/PRED\u003e","video":"13545367009665479380.mp4"}
+{"uid":"7628078225378881969","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the table 9- Stack the chocolate on the table 10- Stack the chocolate on the table Q: immediate next step? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the 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: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. last 20 steps: 1- Put the chocolate on the table 2- Put the chocolate on the table 3- Put the chocolate on the table 4- Put the chocolate on the table 5- Put the chocolate on the table 6- Put the chocolate on the table 7- Put the chocolate on the table 8- Put the chocolate on the table 9- Stack the chocolate on the table 10- Stack the chocolate on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the chocolate on the table 2- Stack the chocolate on the table 3- Stack the chocolate on the table 4- Stack the chocolate on the table 5- Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Remove blue unreal dark chocolate bars from the tray. Q: immediate next step? \u003cPRED\u003eA: Stack the chocolate on the table\n\u003c/PRED\u003e","video":"2007797569560731371.mp4"}
+{"uid":"18326182259963804549","text":"\u003ctask:success:discrete:True\u003e\npush 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: push the drawer\n\u003c/PRED\u003e","video":"2281909707825347863.mp4"}
+{"uid":"10073484327961975197","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move downwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table 14- put the apple on the table 15- Slightly move to the left Q: next 5 steps? \u003cPRED\u003eA: 1- Move downwards 2- move to the table 3- Drop the strawberry on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove 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: Move downwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove 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: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table 14- put the apple on the table 15- Slightly move to the left Q: immediate next step? \u003cPRED\u003eA: Move downwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Move downwards\n\u003c/PRED\u003e","video":"10978473871913697080.mp4"}
+{"uid":"6234530276476485908","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3515850490467094162.mp4"}
+{"uid":"7387244658964763892","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nSlightly move 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":"12237768325621772743.mp4"}
+{"uid":"7661746390595876993","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move away from the green glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove away from the green 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":"15320675568520019580.mp4"}
+{"uid":"4484665301637151277","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Lift up the apple\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nLift up the apple Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15338687445036609173.mp4"}
+{"uid":"17840689950504730040","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple Q: immediate next step? \u003cPRED\u003eA: Lift up the apple\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift up the apple\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple Q: next 5 steps? \u003cPRED\u003eA: 1- Lift up the apple 2- put the apple on the table 3- Slightly move to the left 4- Move downwards 5- move to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift up the apple Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 apple\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift up the apple Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Lift up the apple\n\u003c/PRED\u003e","video":"3682587145075117784.mp4"}
+{"uid":"7310209094446666237","text":"\u003ctask:success:discrete:False\u003e\nGrasp the white glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the white glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Grasp the white glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Grasp the white glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the white glass 2- Move towards the table 3- Place the white glass on the table 4- go away from the white glass on the table 5- go to the apple on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the white glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the white 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":"17364874298194517019.mp4"}
+{"uid":"16197762313286631609","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":"11545332437651046500.mp4"}
+{"uid":"12881680947290443950","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table 14- put the apple on the table 15- Slightly move to the left 16- Move downwards Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the table 2- Drop the strawberry on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table 14- put the apple on the table 15- Slightly move to the left 16- Move downwards 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: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:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Move close to the table\n\u003c/PRED\u003e","video":"11326077310798684093.mp4"}
+{"uid":"8477258479983250957","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green glass on the table 2- Move away from the green glass 3- Grasp the apple 4- Lift up the apple 5- go to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the green glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the green glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the green glass on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Place the green glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table Q: immediate next step? \u003cPRED\u003eA: Place the green glass on the table\n\u003c/PRED\u003e","video":"7897146984616181218.mp4"}
+{"uid":"10702399477440845780","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:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Move towards the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the table 2- Place the green glass on the table 3- Move away from the green glass 4- Grasp the apple 5- Lift up the apple\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","video":"17819716837060888804.mp4"}
+{"uid":"10762838432824587414","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pea 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":"10982804575072223754.mp4"}
+{"uid":"17047852663414518524","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npress the black 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":"12476517847205621323.mp4"}
+{"uid":"8214451510119925155","text":"\u003ctask:success:discrete:False\u003e\nPlace the green 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: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass Q: immediate next step? \u003cPRED\u003eA: Place the green glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the green glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the green glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the green glass on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Place the green glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green glass on the table 2- Grasp the apple 3- Lift up the apple 4- go to the table 5- put the apple on the table\n\u003c/PRED\u003e","video":"1617165063245677998.mp4"}
+{"uid":"9043814989623999906","text":"\u003ctask:success:discrete:True\u003e\nGrab the green glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the green glass\n\u003c/PRED\u003e","video":"5731136139360095084.mp4"}
+{"uid":"8111380288828951247","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":"8098312429326969916.mp4"}
+{"uid":"15751446662519490423","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass Q: next 5 steps? \u003cPRED\u003eA: 1- go to the table 2- Move away from the green glass 3- Grasp the apple 4- Lift up the apple 5- go to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass Q: immediate next step? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5730230652069241891.mp4"}
+{"uid":"9348675192523858521","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4760086342713641091.mp4"}
+{"uid":"4714134009175360751","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"8215988390615164263.mp4"}
+{"uid":"14160415958937150932","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move to the white glass on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove to the white glass on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2632845535756999129.mp4"}
+{"uid":"1930880787092587111","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the apple\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrab the apple Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15775708447508579233.mp4"}
+{"uid":"14941492532733558210","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table 14- put the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- go away from the table 2- move to the table 3- Drop the strawberry on the table 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table 14- put the apple on the table Q: immediate next step? \u003cPRED\u003eA: go away from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo 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: go away from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo 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: go away from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: go away from the table\n\u003c/PRED\u003e","video":"15132938806817204459.mp4"}
+{"uid":"1007493801924583616","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange bag into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1745925191740689050.mp4"}
+{"uid":"5681685510247132507","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: turn the valve\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nturn the valve Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17007028295230195755.mp4"}
+{"uid":"18143771472371549477","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table Q: immediate next step? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move to the left 2- go to the apple on the floor 3- Pick up the green glass 4- Move towards the table 5- Place the green glass on the table\n\u003c/PRED\u003e","video":"12914835572375401281.mp4"}
+{"uid":"11216184451281527619","text":"\u003ctask:success:discrete:True\u003e\nPick up the white glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the white glass\n\u003c/PRED\u003e","video":"18035928634639917687.mp4"}
+{"uid":"2680419447780918825","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the cup under the machine\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal Q: immediate next step? \u003cPRED\u003eA: put the cup under the machine\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cup under the machine\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal . last 20 steps: 1- unstack the cups Q: immediate next step? \u003cPRED\u003eA: put the cup under the machine\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the cup under the machine Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cup under the machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal . last 20 steps: 1- unstack the cups Q: next 5 steps? \u003cPRED\u003eA: 1- put the cup under the machine 2- turn the valve 3- put cup on the table 4- done\n\u003c/PRED\u003e","video":"10145216542618049631.mp4"}
+{"uid":"13313753246439009659","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the strawberry on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table 14- put the apple on the table 15- Slightly move to the left 16- Move downwards 17- move to the table 18- Drop the strawberry on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the strawberry on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table 14- put the apple on the table 15- Slightly move to the left 16- Move downwards 17- move to the table 18- Drop the strawberry on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"17103197875087679056.mp4"}
+{"uid":"7949234829089257322","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nturn the valve Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal . last 20 steps: 1- unstack the cups 2- put the cup under the machine Q: next 5 steps? \u003cPRED\u003eA: 1- turn the valve 2- put cup on the table 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: turn the valve\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal Q: immediate next step? \u003cPRED\u003eA: turn the valve\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: turn the valve\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nturn the valve Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal . last 20 steps: 1- unstack the cups 2- put the cup under the machine Q: immediate next step? \u003cPRED\u003eA: turn the valve\n\u003c/PRED\u003e","video":"18227242434753785131.mp4"}
+{"uid":"4703122475364188917","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the green glass on the table 2- Move away from the green glass 3- Grasp the apple 4- Lift up the apple 5- go to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: put the green glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table Q: immediate next step? \u003cPRED\u003eA: put the green glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9418188668370759719.mp4"}
+{"uid":"4456968554763303030","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the green glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16453672070515088243.mp4"}
+{"uid":"11452978605824678218","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nKeep the tissue paper towards 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":"16751782657498842918.mp4"}
+{"uid":"16271353312105472228","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8385008942080284231.mp4"}
+{"uid":"5182414429176688502","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the white glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the white glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the white glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the white 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: clean up the floor. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the white glass 2- Move towards the table 3- Place the white glass on the table 4- go away from the white glass on the table 5- go to the apple on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Grab the white glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Grab the white glass\n\u003c/PRED\u003e","video":"13761345352731439241.mp4"}
+{"uid":"646752705555335927","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go away from the white glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo away from the white glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12250794342729039476.mp4"}
+{"uid":"17221063017525928231","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the green glass from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the green glass from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4049737992731638866.mp4"}
+{"uid":"14748205290041775187","text":"\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:planning:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal . last 20 steps: 1- unstack the cups 2- put the cup under the machine 3- turn the valve Q: next 5 steps? \u003cPRED\u003eA: 1- put cup on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal . last 20 steps: 1- unstack the cups 2- put the cup under the machine 3- turn the valve Q: immediate next step? \u003cPRED\u003eA: put cup on the table\n\u003c/PRED\u003e\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","video":"2058853366144430883.mp4"}
+{"uid":"961493888025678359","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- go to the green glass on the floor 2- Move towards the table 3- Place the green glass on the table 4- Move away from the green glass 5- Grasp the apple\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor Q: immediate next step? \u003cPRED\u003eA: go to the green glass on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo to the green glass on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go to the green glass on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go to the green glass on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo to the green glass on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: go to the green glass on the floor\n\u003c/PRED\u003e","video":"11353169207047836109.mp4"}
+{"uid":"9470916849604037747","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange cable in the cardboard box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3448223675206342657.mp4"}
+{"uid":"695035521202949580","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple Q: next 5 steps? \u003cPRED\u003eA: 1- go to the table 2- put the apple on the table 3- Slightly move to the left 4- Move downwards 5- move to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple Q: immediate next step? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e","video":"4251486110313083790.mp4"}
+{"uid":"13170394921910471818","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":"6430965880725916928.mp4"}
+{"uid":"14055920327482368139","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the coffee cups 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":"4019647892512415357.mp4"}
+{"uid":"17206442825273293433","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":"13134394104547955956.mp4"}
+{"uid":"6279195591647010162","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table Q: immediate next step? \u003cPRED\u003eA: Place the white glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the white glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the white glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white glass on the table 2- go away from the white glass on the table 3- go to the apple on the floor 4- Pick up the green glass 5- Move towards the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Place the white glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17233616334595749618.mp4"}
+{"uid":"8572902783206384054","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":"3681719719562458087.mp4"}
+{"uid":"11371621965305725784","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- unstack the cups 2- put the cup under the machine 3- turn the valve 4- put cup on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nunstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal Q: immediate next step? \u003cPRED\u003eA: unstack the cups\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: unstack the cups\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: unstack the cups\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nunstack the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: unstack the cups\n\u003c/PRED\u003e","video":"9552036339579291911.mp4"}
+{"uid":"7073757043552571024","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":"600639189882957894.mp4"}
+{"uid":"865670519548565066","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange object 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":"14920503907965372054.mp4"}
+{"uid":"11442836935519502789","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the box from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10595103972998776448.mp4"}
+{"uid":"7568170531521404154","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange colour 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":"2829893402448213237.mp4"}
+{"uid":"10616930456442336112","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Lift up the green glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nLift up the green 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":"13212458790741732139.mp4"}
+{"uid":"17137720555524360091","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal . last 20 steps: 1- unstack the cups 2- put the cup under the machine 3- turn the valve 4- put cup on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask: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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please make me a bowl of cereal . last 20 steps: 1- unstack the cups 2- put the cup under the machine 3- turn the valve 4- put cup on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"7838484116561297617.mp4"}
+{"uid":"694365785068213402","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick a blue 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":"13585492630446556918.mp4"}
+{"uid":"6476488014306562487","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":"2820211832540622177.mp4"}
+{"uid":"16479380544838895630","text":"\u003ctask:success:discrete:True\u003e\nMove away from the white glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move away from the white glass\n\u003c/PRED\u003e","video":"515431500759193964.mp4"}
+{"uid":"15522845137008399484","text":"\u003ctask:success:discrete:True\u003e\nunstack the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: unstack the cups\n\u003c/PRED\u003e","video":"8255302772058612804.mp4"}
+{"uid":"3375260547206139382","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nseparate 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":"300589949078279627.mp4"}
+{"uid":"12638098167164933432","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace an orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10580698498546753176.mp4"}
+{"uid":"1241765281199793654","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":"5897739679148677262.mp4"}
+{"uid":"4549028662235222","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":"6350916946079016052.mp4"}
+{"uid":"2346313046518800324","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":"2672139132067967726.mp4"}
+{"uid":"11345668969538439734","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace candy 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":"2683503753719201779.mp4"}
+{"uid":"17290896992003457949","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the apple from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the apple from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12412138661146461357.mp4"}
+{"uid":"16166886974851968856","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the toy strawberry on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table 14- put the apple on the table 15- Slightly move to the left 16- Move downwards 17- move to the table Q: immediate next step? \u003cPRED\u003eA: Drop the toy strawberry on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table 14- put the apple on the table 15- Slightly move to the left 16- Move downwards 17- move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the toy strawberry on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the toy strawberry on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the toy strawberry on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the toy strawberry on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Drop the toy strawberry on the table\n\u003c/PRED\u003e","video":"1494691546394404611.mp4"}
+{"uid":"16247155472900097650","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the green glass 2- Move towards the table 3- Place the green glass on the table 4- Move away from the green glass 5- Grasp the apple\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the green glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the green glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the green 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: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor Q: immediate next step? \u003cPRED\u003eA: Pick up the green glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the green glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Pick up the green glass\n\u003c/PRED\u003e","video":"10913686439289007863.mp4"}
+{"uid":"17857541427224145437","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":"14235475472283930613.mp4"}
+{"uid":"2559565745928044626","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the knife 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":"4233485535128923722.mp4"}
+{"uid":"16619742348841047987","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift up the green glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13182803758692775128.mp4"}
+{"uid":"18137942385994606877","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17986096624575490195.mp4"}
+{"uid":"10378076753404935765","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the apple from the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass Q: immediate next step? \u003cPRED\u003eA: pick the apple from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the apple 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: clean up the floor Q: immediate next step? \u003cPRED\u003eA: pick the apple from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick the apple from the floor 2- go to the table 3- put the apple on the table 4- Slightly move to the left 5- Move downwards\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the apple from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the apple from the floor\n\u003c/PRED\u003e","video":"15810408757137655495.mp4"}
+{"uid":"375419755935853433","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow candy in the left bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14223407189973047214.mp4"}
+{"uid":"15704374564413726322","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":"10709901149933383209.mp4"}
+{"uid":"14108834361369003460","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: go to the apple on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table Q: immediate next step? \u003cPRED\u003eA: go to the apple on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo to the apple 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: go to the apple on the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- go to the apple on the floor 2- Lift up the apple 3- go to the table 4- put the apple on the table 5- Slightly move to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo to the apple on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go to the apple on the floor\n\u003c/PRED\u003e","video":"13458336944493505735.mp4"}
+{"uid":"5548843974651645362","text":"\u003ctask:success:discrete:True\u003e\ngo away from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go away from the table\n\u003c/PRED\u003e","video":"4858738318164864554.mp4"}
+{"uid":"3855705068914375510","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 2 packet brown sugar 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":"212478464290024149.mp4"}
+{"uid":"16164004176042050357","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Pick up the white glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the white glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the white glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the white glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the white 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: clean up the floor. last 20 steps: 1- move to the white glass on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the white glass 2- Move towards the table 3- Place the white glass on the table 4- go away from the white glass on the table 5- go to the apple on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor Q: immediate next step? \u003cPRED\u003eA: Pick up the white glass\n\u003c/PRED\u003e","video":"12710447719631236290.mp4"}
+{"uid":"10468793303115575515","text":"\u003ctask:success:discrete:True\u003e\nPlace the green glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the green glass on the table\n\u003c/PRED\u003e","video":"16972104223877487407.mp4"}
+{"uid":"11738405420639009504","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":"8854185084997883480.mp4"}
+{"uid":"10749742475171497311","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table 14- put the apple on the table 15- Slightly move to the left 16- Move downwards 17- move to the table 18- drop the strawberry on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the strawberry on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 strawberry on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table 14- put the apple on the table 15- Slightly move to the left 16- Move downwards 17- move to the table 18- drop the strawberry on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"11379888987724996491.mp4"}
+{"uid":"12077121127457999191","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue pen in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6617298889066025067.mp4"}
+{"uid":"5944499905716840671","text":"\u003ctask:success:discrete:True\u003e\nPlace the white glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the white glass on the table\n\u003c/PRED\u003e","video":"11939083229566963531.mp4"}
+{"uid":"7284868162748434102","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"6541257605718167111.mp4"}
+{"uid":"16048147005874511169","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table 14- put the apple on the table 15- Slightly move to the left 16- Move downwards 17- move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the strawberry on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Drop the strawberry on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the strawberry on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 strawberry on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the strawberry on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table 14- put the apple on the table 15- Slightly move to the left 16- Move downwards 17- move to the table Q: immediate next step? \u003cPRED\u003eA: Drop the strawberry on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the strawberry on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17451856938032550042.mp4"}
+{"uid":"473490348103370700","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- go to the apple on the floor 2- Pick up the green glass 3- Move towards the table 4- Place the green glass on the table 5- Move away from the green glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: go to the apple on the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go to the apple on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo to the apple 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: go to the apple on the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table Q: immediate next step? \u003cPRED\u003eA: go to the apple on the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo to the apple 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":"8485454924198214278.mp4"}
+{"uid":"15537046138660861334","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the crepe bandage in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"925006711794585090.mp4"}
+{"uid":"1725211514554231707","text":"\u003ctask:success:discrete:True\u003e\nRelease 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: Release the apple on the table\n\u003c/PRED\u003e","video":"6257781178030358118.mp4"}
+{"uid":"10509218716990512885","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift up the green glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift up the green 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: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Lift up the green glass 2- Place the green glass on the table 3- Move away from the green glass 4- Grasp the apple 5- Lift up the apple\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Lift up the green glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift up the green glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift up the green glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor Q: immediate next step? \u003cPRED\u003eA: Lift up the green glass\n\u003c/PRED\u003e","video":"10453810825044715837.mp4"}
+{"uid":"9191884573856963613","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the green glass from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the green glass from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- pick the green glass from the floor 2- Move towards the table 3- Place the green glass on the table 4- Move away from the green glass 5- Grasp the apple\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: pick the green glass from the floor\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor Q: immediate next step? \u003cPRED\u003eA: pick the green glass from the floor\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the green glass from the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the green glass from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10055293598157934449.mp4"}
+{"uid":"6787504570763245089","text":"\u003ctask:success:discrete:False\u003e\nMove towards 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 towards the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the floor 2- Pick up the green glass 3- Move towards the table 4- Place the green glass on the table 5- Move away from the green glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table Q: immediate next step? \u003cPRED\u003eA: Move towards the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Move towards the floor\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the floor\n\u003c/PRED\u003e","video":"11054543803466322691.mp4"}
+{"uid":"10584523244476037684","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table Q: immediate next step? \u003cPRED\u003eA: Move away from the white glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the white glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the white glass 2- go to the apple on the floor 3- Pick up the green glass 4- Move towards the table 5- Place the green glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the white glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the white glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Move away from the white glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the white 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":"13662211243967829942.mp4"}
+{"uid":"9829406191215647564","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange 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":"13360344427591873875.mp4"}
+{"uid":"14744343070883770399","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the green glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the green 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":"9300109675479996447.mp4"}
+{"uid":"10161354252647941030","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":"15782513716929316642.mp4"}
+{"uid":"2961145201318974482","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky notes in the tray in a 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":"17425002275032348099.mp4"}
+{"uid":"2503060652380983663","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":"15547864839482231298.mp4"}
+{"uid":"3911289629123431542","text":"\u003ctask:success:discrete:False\u003e\ngo away from the white 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: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table Q: immediate next step? \u003cPRED\u003eA: go away from the white glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go away from the white glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go away from the white glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- go away from the white glass on the table 2- go to the apple on the floor 3- Pick up the green glass 4- Move towards the table 5- Place the green glass on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: go away from the white glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo away from the white glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18118842057262173408.mp4"}
+{"uid":"18009574310159301223","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor 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: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: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table 14- put the apple on the table 15- Slightly move to the left 16- Move downwards Q: immediate next step? \u003cPRED\u003eA: Move towards the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table 14- put the apple on the table 15- Slightly move to the left 16- Move downwards Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the table 2- Drop the strawberry on the table 3- done\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","video":"6723173911934706600.mp4"}
+{"uid":"11907133082777757666","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":"13793915916244844964.mp4"}
+{"uid":"14403293504764825613","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table Q: immediate next step? \u003cPRED\u003eA: Grab the green glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the green 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: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the green glass 2- Move towards the table 3- Place the green glass on the table 4- Move away from the green glass 5- Grasp the apple\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Grab the green glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the green 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: Grab the green glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the green glass\n\u003c/PRED\u003e","video":"17778157116854199540.mp4"}
+{"uid":"3960570577590702488","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":"11964802936983030465.mp4"}
+{"uid":"5972943488015120978","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":"12358777656486253289.mp4"}
+{"uid":"1165757137963503842","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move downwards\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove 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":"10689136164878157426.mp4"}
+{"uid":"13126953499688719955","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nadjust 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":"9641076134088245706.mp4"}
+{"uid":"628607968081162815","text":"\u003ctask:success:discrete:True\u003e\nMove towards the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the floor\n\u003c/PRED\u003e","video":"11238820311233969784.mp4"}
+{"uid":"16914207219507035732","text":"\u003ctask:success:discrete:True\u003e\nput the cup under the machine Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the cup under the machine\n\u003c/PRED\u003e","video":"7550521157661536533.mp4"}
+{"uid":"13128204996064577604","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: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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor Q: immediate next step? \u003cPRED\u003eA: Move towards the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the table 2- Place the white glass on the table 3- go away from the white glass on the table 4- go to the apple on the floor 5- Pick up the green glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor 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":"14333250813148844859.mp4"}
+{"uid":"17577109184598393431","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the yellow marker box 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":"5593504060553838198.mp4"}
+{"uid":"4404675624357141713","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the red candy 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":"15597363897857880912.mp4"}
+{"uid":"3347606920717522909","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up a plastic wrap Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9629628152394804956.mp4"}
+{"uid":"15419964872590688239","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput white box 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":"14140665478738287162.mp4"}
+{"uid":"16735527003765303958","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table 14- put the apple on the table 15- Slightly move to the left 16- Move downwards 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: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\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: move to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table 14- put the apple on the table 15- Slightly move to the left 16- Move downwards Q: next 5 steps? \u003cPRED\u003eA: 1- move to the table 2- Drop the strawberry on the table 3- done\n\u003c/PRED\u003e","video":"12034339110477220674.mp4"}
+{"uid":"3779202119315763816","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the green glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the green glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the green 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: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the green glass 2- Grasp the apple 3- Lift up the apple 4- go to the table 5- 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: Move away from the green glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Move away from the green glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table Q: immediate next step? \u003cPRED\u003eA: Move away from the green glass\n\u003c/PRED\u003e","video":"12091611127955515578.mp4"}
+{"uid":"13926237829891313917","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move to the left Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move 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: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table 14- put the apple on the table Q: immediate next step? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table 14- put the apple on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move to the left 2- Move downwards 3- move to the table 4- Drop the strawberry on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e","video":"14267954518432972150.mp4"}
+{"uid":"17358104184165239815","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":"4978683617387850981.mp4"}
+{"uid":"4236455127851704847","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the fork 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":"60882289052345931.mp4"}
+{"uid":"3547053481512661181","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the apple\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the apple Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the apple 2- Lift up the apple 3- go to the table 4- put the apple on the table 5- Slightly move to the left\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Grasp the apple\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass Q: immediate next step? \u003cPRED\u003eA: Grasp the apple\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the apple\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the apple Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2209051673060550615.mp4"}
+{"uid":"7302041336666094988","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the white glass from the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the white glass from the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the white glass from the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: pick the white glass from the floor\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- pick the white glass from the floor 2- Move towards the table 3- Place the white glass on the table 4- go away from the white glass on the table 5- go to the apple on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the white glass from the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor Q: immediate next step? \u003cPRED\u003eA: pick the white glass from the floor\n\u003c/PRED\u003e","video":"12107768313209387434.mp4"}
+{"uid":"12876188912261096321","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":"6268948568978010290.mp4"}
+{"uid":"13420776853305610154","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":"10392434108494207808.mp4"}
+{"uid":"11083528365702377421","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the toy strawberry on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table 14- put the apple on the table 15- Slightly move to the left 16- Move downwards 17- move to the table 18- Drop the toy strawberry 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: Drop the toy strawberry on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table 14- put the apple on the table 15- Slightly move to the left 16- Move downwards 17- move to the table 18- Drop the toy strawberry on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"3547396665029923860.mp4"}
+{"uid":"6808967714775017534","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":"16134280975192905409.mp4"}
+{"uid":"1128223317573509037","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the apple 2- go to the table 3- put the apple on the table 4- Slightly move to the left 5- Move downwards\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass Q: immediate next step? \u003cPRED\u003eA: Grab the apple\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the apple\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the apple Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 apple\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the apple Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Grab the apple\n\u003c/PRED\u003e","video":"7251956249687829725.mp4"}
+{"uid":"11599060822241191811","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace an orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12086054024440619519.mp4"}
+{"uid":"12099997393743489947","text":"\u003ctask:success:discrete:False\u003e\ngo to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor Q: immediate next step? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo to the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor Q: next 5 steps? \u003cPRED\u003eA: 1- go to the table 2- go away from the white glass on the table 3- go to the apple on the floor 4- Pick up the green glass 5- Move towards the table\n\u003c/PRED\u003e","video":"1160333716848247306.mp4"}
+{"uid":"12661102953002197414","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the white glass on the table 2- go away from the white glass on the table 3- go to the apple on the floor 4- Pick up the green glass 5- Move towards the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the white glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table Q: immediate next step? \u003cPRED\u003eA: put the white glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the white glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the white glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: put the white glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the white glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9957040566930231822.mp4"}
+{"uid":"17282431271665539501","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the strawberry on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table 14- put the apple on the table 15- Slightly move to the left 16- Move downwards 17- move to the table Q: immediate next step? \u003cPRED\u003eA: drop the strawberry on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the strawberry on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 strawberry on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table 14- put the apple on the table 15- Slightly move to the left 16- Move downwards 17- move to the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the strawberry on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the strawberry on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: drop the strawberry on the table\n\u003c/PRED\u003e","video":"3241976456996517452.mp4"}
+{"uid":"1270691557979451037","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":"8637904424269204766.mp4"}
+{"uid":"645222286348546338","text":"\u003ctask:success:discrete:True\u003e\nGrasp the white glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the white glass\n\u003c/PRED\u003e","video":"15502625997068616603.mp4"}
+{"uid":"707881448391874112","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":"5726529067307689351.mp4"}
+{"uid":"2556825749312887961","text":"\u003ctask:success:discrete:True\u003e\nPlace the white glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the white glass on the table\n\u003c/PRED\u003e","video":"4861950053552559549.mp4"}
+{"uid":"17063472028976799038","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table Q: immediate next step? \u003cPRED\u003eA: Move away from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the table 2- Move downwards 3- move to the table 4- Drop the strawberry on the table 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Move away from the table\n\u003c/PRED\u003e","video":"7977917511255323648.mp4"}
+{"uid":"4594374551128586442","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go to the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo to the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1931750616428497888.mp4"}
+{"uid":"17121720187359569028","text":"\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the table 2- put the apple on the table 3- Slightly move to the left 4- Move downwards 5- move to 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 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:planning:freeform\u003e\ncurrent goal is: clean up the floor 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","video":"918217234177781614.mp4"}
+{"uid":"3152462703074395689","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the green 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":"16352535594955128468.mp4"}
+{"uid":"15311842448844045147","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the white glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Pick up the white glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the white glass 2- Place the white glass on the table 3- go away from the white glass on the table 4- go to the apple on the floor 5- Pick up the green glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the white glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the white glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the white glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor Q: immediate next step? \u003cPRED\u003eA: Pick up the white glass\n\u003c/PRED\u003e","video":"10436472423636935666.mp4"}
+{"uid":"7495432185628279784","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the apple\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrasp the apple Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5031501684884020553.mp4"}
+{"uid":"16096714965375389945","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Drop the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the apple on the table 2- Slightly move to the left 3- Move downwards 4- move to the table 5- Drop the strawberry on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop 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: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple Q: immediate next step? \u003cPRED\u003eA: Drop the apple on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop 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: Drop the apple on the table\n\u003c/PRED\u003e","video":"7703094472791120690.mp4"}
+{"uid":"13077460180078723976","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the pillow on the right side sofa Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1446032857070333120.mp4"}
+{"uid":"13636013590213436003","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go to the apple on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo to the apple on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14028344022697861542.mp4"}
+{"uid":"10088001049145673472","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":"6578844787629361802.mp4"}
+{"uid":"18279577387611165125","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the table 2- go away from the white glass on the table 3- go to the apple on the floor 4- Pick up the green glass 5- Move towards the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor 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: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","video":"2333547774924899165.mp4"}
+{"uid":"11085712254829301789","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":"4273144017747684524.mp4"}
+{"uid":"6224268969605569027","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove to the white glass on the floor Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move to the white glass on the floor\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move to the white glass on the floor\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove to the white glass on the floor Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move to the white glass on the floor\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: move to the white glass on the floor\n\u003c/PRED\u003e","video":"12961652996155824328.mp4"}
+{"uid":"4527712346787010773","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Release the apple on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple Q: immediate next step? \u003cPRED\u003eA: Release the apple on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple Q: next 5 steps? \u003cPRED\u003eA: 1- Release the apple on the table 2- Slightly move to the left 3- Move downwards 4- move to the table 5- Drop the strawberry on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease 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: Release the apple on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease 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","video":"460897145779879517.mp4"}
+{"uid":"14834633796484398372","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the chips packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17614989621031429776.mp4"}
+{"uid":"11596782231129493180","text":"\u003ctask:success:discrete:True\u003e\ngo to the apple 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: go to the apple on the floor\n\u003c/PRED\u003e","video":"14323407826035911887.mp4"}
+{"uid":"13782007219858689784","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table Q: immediate next step? \u003cPRED\u003eA: Place the white glass on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the white glass on the table 2- go to the apple on the floor 3- Pick up the green glass 4- Move towards the table 5- Place the green glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the white glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Place the white glass on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the white glass on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the white glass on the table\n\u003c/PRED\u003e","video":"7544808876760909190.mp4"}
+{"uid":"10291080147924139539","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: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple on the table 2- Slightly move to the left 3- Move downwards 4- move to the table 5- Drop the strawberry on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: clean up the floor 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: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table 10- Move away from the green glass 11- Grasp the apple 12- Lift up the apple 13- go to 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: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","video":"10251307603090473854.mp4"}
+{"uid":"2019773820024822704","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table Q: immediate next step? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move 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:planning:freeform\u003e\ncurrent goal is: clean up the floor Q: immediate next step? \u003cPRED\u003eA: Slightly move to the left\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move 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: clean up the floor. last 20 steps: 1- move to the white glass on the floor 2- pick the white glass from the floor 3- Move towards the table 4- Place the white glass on the table 5- go away from the white glass on the table 6- go to the apple on the floor 7- Pick up the green glass 8- Move towards the table 9- Place the green glass on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move to the left 2- Lift up the apple 3- go to the table 4- put the apple on the table 5- Slightly move to the left\n\u003c/PRED\u003e","video":"1700338220407699273.mp4"}
+{"uid":"12631460110552842928","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the green glass on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the green glass on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4630023995271848386.mp4"}
+{"uid":"8487636426073936128","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the apple on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop 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":"5111864093168654251.mp4"}
+{"uid":"266484845680313940","text":"\u003ctask:success:discrete:True\u003e\nGrab the white glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the white glass\n\u003c/PRED\u003e","video":"16443595946459766201.mp4"}
+{"uid":"9895727888839217495","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop a candy in left coffee cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8305869900590356956.mp4"}
+{"uid":"8114334339512833854","text":"\u003ctask:success:discrete:True\u003e\nopen the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e","video":"8300850181270806065.mp4"}
+{"uid":"7259968932642672803","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cups in the cup stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Help refill the disosable espresso cups please. last 20 steps: 1- Put the cups in the cup stand 2- Put the cups in the cup stand Q: immediate next step? \u003cPRED\u003eA: Put the cups in the cup stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Help refill the disosable espresso cups please Q: immediate next step? \u003cPRED\u003eA: Put the cups in the cup stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cups in the cup 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 cups in the cup stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Help refill the disosable espresso cups please. last 20 steps: 1- Put the cups in the cup stand 2- Put the cups in the cup stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cups in the cup stand 2- Put the cups in the stand 3- Put the cups in the cup stand 4- Put the cups in the cup stand 5- Put the cups in the cup stand\n\u003c/PRED\u003e","video":"16838116902433972321.mp4"}
+{"uid":"5642155267720369333","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":"13317120211206404942.mp4"}
+{"uid":"9417855724779828871","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the cups in the cup stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the cups in the cup 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":"13573391949511016615.mp4"}
+{"uid":"7476767792097827829","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput toy in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9719713803897958578.mp4"}
+{"uid":"15644236434445682975","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":"15578461711579771629.mp4"}
+{"uid":"9628758058277834855","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the white tray 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":"10516824887912619103.mp4"}
+{"uid":"12568108642575487646","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the cups in the cup stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the cups in the cup 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":"13212206468465054617.mp4"}
+{"uid":"13932814959002376328","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":"11795671484048856158.mp4"}
+{"uid":"10857344870061660610","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the spoons in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11721488901939694407.mp4"}
+{"uid":"1786686387205425535","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the cups in the cup stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the cups in the cup 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":"8337839791594784378.mp4"}
+{"uid":"728853762490715101","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo closer to the sponge 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":"16245795031499840254.mp4"}
+{"uid":"9120676907027572356","text":"\u003ctask:success:discrete:True\u003e\nPut the cups 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 cups in the stand\n\u003c/PRED\u003e","video":"7849024017627622563.mp4"}
+{"uid":"867688168159188893","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8916961773725900530.mp4"}
+{"uid":"18425073263864600927","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"8595284654860373329.mp4"}
+{"uid":"12234714618070818439","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Help refill the disosable espresso cups please. last 20 steps: 1- Put the cups in the cup stand 2- Put the cups in the cup stand 3- Put the cups in the cup stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cups in the stand 2- Put the cups in the cup stand 3- Put the cups in the cup stand 4- Put the cups in the cup stand 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cups in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cups in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cups 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: Help refill the disosable espresso cups please Q: immediate next step? \u003cPRED\u003eA: Put the cups in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the cups 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: Help refill the disosable espresso cups please. last 20 steps: 1- Put the cups in the cup stand 2- Put the cups in the cup stand 3- Put the cups in the cup stand Q: immediate next step? \u003cPRED\u003eA: Put the cups in the stand\n\u003c/PRED\u003e","video":"4227436324652596285.mp4"}
+{"uid":"8664895547361153516","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput holes on paper with paper hole puncher Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put holes on paper with paper hole puncher\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: add some holes to the paper using the hole punch on the table . last 20 steps: 1- put holes on paper with paper hole puncher Q: immediate next step? \u003cPRED\u003eA: put holes on paper with paper hole puncher\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: add some holes to the paper using the hole punch on the table Q: immediate next step? \u003cPRED\u003eA: put holes on paper with paper hole puncher\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put holes on paper with paper hole puncher\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: add some holes to the paper using the hole punch on the table . last 20 steps: 1- put holes on paper with paper hole puncher Q: next 5 steps? \u003cPRED\u003eA: 1- put holes on paper with paper hole puncher 2- done\n\u003c/PRED\u003e","video":"1778697973636288495.mp4"}
+{"uid":"11915724252646248139","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put holes on paper with paper hole puncher\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput holes on paper with paper hole puncher Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16608482815928725646.mp4"}
+{"uid":"8461355643784295947","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 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":"9931027326121021634.mp4"}
+{"uid":"741798071827617376","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can 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":"13261573989060139260.mp4"}
+{"uid":"15125524189634846161","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":"11895143846757529877.mp4"}
+{"uid":"9962509984061238610","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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- put packet on the table 2- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- put packet on the table 2- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"4514736901323616458.mp4"}
+{"uid":"9301418697871968234","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put holes on paper with paper hole puncher\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput holes on paper with paper hole puncher Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 holes on paper with paper hole puncher Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: add some holes to the paper using the hole punch on the table . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put holes on paper with paper hole puncher\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: add some holes to the paper using the hole punch on the table . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put holes on paper with paper hole puncher 2- put holes on paper with paper hole puncher 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put holes on paper with paper hole puncher\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: add some holes to the paper using the hole punch on the table Q: immediate next step? \u003cPRED\u003eA: put holes on paper with paper hole puncher\n\u003c/PRED\u003e","video":"7107220661843644821.mp4"}
+{"uid":"10172108518427127305","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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"9685295773522195872.mp4"}
+{"uid":"815937336352207849","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue 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":"2027707967274076413.mp4"}
+{"uid":"17154567649294655492","text":"\u003ctask:success:discrete:True\u003e\nput packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"13741927072487204316.mp4"}
+{"uid":"11879033595749006317","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can on a table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13659656642823469594.mp4"}
+{"uid":"15853378176641084964","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":"17259256651417174948.mp4"}
+{"uid":"17065270970264000446","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":"10780263740239487894.mp4"}
+{"uid":"11738572766471774270","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13067321861521525954.mp4"}
+{"uid":"6915388420335884782","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"2696238767639497558.mp4"}
+{"uid":"7677426398259287384","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":"6876033668958978905.mp4"}
+{"uid":"7205507057622463609","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"10033734453866719754.mp4"}
+{"uid":"4892703648096884787","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Mechanics meeting room?. last 20 steps: 1- open the door 2- arrange the chair Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the chair 2- arrange the chair 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Mechanics meeting room?. last 20 steps: 1- open the door 2- arrange the chair Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Mechanics meeting room? Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e","video":"15534249516257858876.mp4"}
+{"uid":"8592204685332019847","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7144190923327212014.mp4"}
+{"uid":"18219733631374615949","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Help refill the disosable espresso cups please. last 20 steps: 1- Put the cups in the cup stand 2- Put the cups in the cup stand 3- Put the cups in the cup stand 4- Put the cups in the stand 5- Put the cups in the cup stand 6- Put the cups in the cup stand 7- Put the cups in the cup stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Help refill the disosable espresso cups please Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Help refill the disosable espresso cups please. last 20 steps: 1- Put the cups in the cup stand 2- Put the cups in the cup stand 3- Put the cups in the cup stand 4- Put the cups in the stand 5- Put the cups in the cup stand 6- Put the cups in the cup stand 7- Put the cups in the cup 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 the cups in the cup stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the cups in the cup 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":"3418735079020461290.mp4"}
+{"uid":"12568804551146625175","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Mechanics meeting room?. last 20 steps: 1- open the door 2- arrange the chair 3- arrange the chair Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Mechanics meeting room? Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Mechanics meeting room?. last 20 steps: 1- open the door 2- arrange the chair 3- arrange the chair Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the chair 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15998806829419495313.mp4"}
+{"uid":"7316212753233579853","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 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":"9129531947171855788.mp4"}
+{"uid":"3861606314516817847","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Help refill the disosable espresso cups please. last 20 steps: 1- Put the cups in the cup stand 2- Put the cups in the cup stand 3- Put the cups in the cup stand 4- Put the cups in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cups in the cup stand 2- Put the cups in the cup stand 3- Put the cups in the cup stand 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cups in the cup stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Help refill the disosable espresso cups please. last 20 steps: 1- Put the cups in the cup stand 2- Put the cups in the cup stand 3- Put the cups in the cup stand 4- Put the cups in the stand Q: immediate next step? \u003cPRED\u003eA: Put the cups in the cup stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cups in the cup stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the cups in the cup stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cups in the cup stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Help refill the disosable espresso cups please Q: immediate next step? \u003cPRED\u003eA: Put the cups in the cup stand\n\u003c/PRED\u003e","video":"6715229102508978813.mp4"}
+{"uid":"14736273763496444488","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cups in the cup stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Help refill the disosable espresso cups please Q: immediate next step? \u003cPRED\u003eA: Put the cups in the cup stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Help refill the disosable espresso cups please. last 20 steps: 1- Put the cups in the cup stand 2- Put the cups in the cup stand 3- Put the cups in the cup stand 4- Put the cups in the stand 5- Put the cups in the cup stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cups in the cup stand 2- Put the cups in the cup stand 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Help refill the disosable espresso cups please. last 20 steps: 1- Put the cups in the cup stand 2- Put the cups in the cup stand 3- Put the cups in the cup stand 4- Put the cups in the stand 5- Put the cups in the cup stand Q: immediate next step? \u003cPRED\u003eA: Put the cups in the cup stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cups in the cup stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cups in the cup 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":"12401169518730698499.mp4"}
+{"uid":"1732465865702113298","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Help refill the disosable espresso cups please. last 20 steps: 1- Put the cups in the cup stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cups in the cup stand 2- Put the cups in the cup stand 3- Put the cups in the stand 4- Put the cups in the cup stand 5- Put the cups in the cup stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cups in the cup stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cups in the cup 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: Help refill the disosable espresso cups please Q: immediate next step? \u003cPRED\u003eA: Put the cups in the cup stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Help refill the disosable espresso cups please. last 20 steps: 1- Put the cups in the cup stand Q: immediate next step? \u003cPRED\u003eA: Put the cups in the cup stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cups in the cup stand\n\u003c/PRED\u003e","video":"7448248707235158200.mp4"}
+{"uid":"14612006457069896457","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":"2074370154878391040.mp4"}
+{"uid":"8709699093343202419","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":"3035655940336336373.mp4"}
+{"uid":"6544792172439757819","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\narrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14035253429672598693.mp4"}
+{"uid":"3534659870860246041","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 chips from the basket Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- put packet on the table 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket . last 20 steps: 1- put packet on the table 2- put packet on the table 3- put packet on the table 4- put packet on the table 5- put packet on the table 6- put packet on the table 7- put packet on the table Q: immediate next step? \u003cPRED\u003eA: put packet on the table\n\u003c/PRED\u003e","video":"11773185929389613460.mp4"}
+{"uid":"9835652555763536825","text":"\u003ctask:success:discrete:True\u003e\nPut the cups in the cup 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 cups in the cup stand\n\u003c/PRED\u003e","video":"505537448444894653.mp4"}
+{"uid":"264528931517231003","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Mechanics meeting room?. last 20 steps: 1- open the door Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the chair 2- arrange the chair 3- arrange the chair 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Mechanics meeting room?. last 20 steps: 1- open the door Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the chair Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the chair Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Mechanics meeting room? Q: immediate next step? \u003cPRED\u003eA: arrange the chair\n\u003c/PRED\u003e","video":"5730178786808762358.mp4"}
+{"uid":"14632376434815427303","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cups in the cup 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: Help refill the disosable espresso cups please Q: immediate next step? \u003cPRED\u003eA: Put the cups in the cup stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Help refill the disosable espresso cups please. last 20 steps: 1- Put the cups in the cup stand 2- Put the cups in the cup stand 3- Put the cups in the cup stand 4- Put the cups in the stand 5- Put the cups in the cup stand 6- Put the cups in the cup stand Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cups in the cup stand 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cups in the cup stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cups in the cup stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Help refill the disosable espresso cups please. last 20 steps: 1- Put the cups in the cup stand 2- Put the cups in the cup stand 3- Put the cups in the cup stand 4- Put the cups in the stand 5- Put the cups in the cup stand 6- Put the cups in the cup stand Q: immediate next step? \u003cPRED\u003eA: Put the cups in the cup stand\n\u003c/PRED\u003e","video":"3696782478011534130.mp4"}
+{"uid":"10295665929250640920","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":"17619303667826579726.mp4"}
+{"uid":"12674804882510511887","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"12877943195377756004.mp4"}
+{"uid":"13977434220025297727","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Mechanics meeting room?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Mechanics meeting room? Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you push in the chairs in the Mechanics meeting room?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the door 2- arrange the chair 3- arrange the chair 4- arrange the chair 5- done\n\u003c/PRED\u003e\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: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","video":"14859318484647234008.mp4"}
+{"uid":"4753505213606206637","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put holes on paper with paper hole puncher\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: add some holes to the paper using the hole punch on the table . last 20 steps: 1- put holes on paper with paper hole puncher 2- put holes on paper with paper hole puncher Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput holes on paper with paper hole puncher Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: add some holes to the paper using the hole punch on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: add some holes to the paper using the hole punch on the table . last 20 steps: 1- put holes on paper with paper hole puncher 2- put holes on paper with paper hole puncher Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14052287496062717683.mp4"}
+{"uid":"279292447664857558","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift up a pebble\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Lift up a pebble 2- drop the pebble in the bowl 3- Grab a pebble 4- Drop the pebble in the bowl 5- Release the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Lift up a pebble\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift up a pebble\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table Q: immediate next step? \u003cPRED\u003eA: Lift up a pebble\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift up a pebble Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift up a pebble Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8102657442666497207.mp4"}
+{"uid":"11614718475387040035","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the pebbles on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the pebbles on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl Q: immediate next step? \u003cPRED\u003eA: Move away from the pebbles on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove away from the pebbles on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 pebbles on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Move away from the pebbles on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the pebbles on the table 2- Move towards the pebble 3- Slightly move up 4- Move close to the pebble 5- Drop the pebble in the bowl\n\u003c/PRED\u003e","video":"8562910277861314373.mp4"}
+{"uid":"6992154022716585757","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":"5601393066625470537.mp4"}
+{"uid":"17565431777905778755","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pebble 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: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pebble 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 pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pebble in the bowl 2- Pick up a pebble 3- Drop the pebble in the bowl 4- Move close to the pebble 5- Move away from the pebbles on the table\n\u003c/PRED\u003e","video":"4011746487386335424.mp4"}
+{"uid":"2349207003929973041","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":"11528013177869978465.mp4"}
+{"uid":"15544534373338237298","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pebble in the bowl 2- Move close to the pebble 3- Move away from the pebbles on the table 4- Move towards the pebble 5- Slightly move up\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pebble in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pebble 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 pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e","video":"8699111590819411231.mp4"}
+{"uid":"1814686432117523260","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl 16- Grab a pebble Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pebble in the bowl 2- Move towards the pebbles 3- Pick a pebble 4- Slightly push the bowl 5- Move close to the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pebble 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 pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl 16- Grab a pebble Q: immediate next step? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pebble 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: Drop the pebble in the bowl\n\u003c/PRED\u003e","video":"17650102364699062095.mp4"}
+{"uid":"1807851288167167747","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble Q: immediate next step? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pebble 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 pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pebble in the bowl 2- Release the pebble in the bowl 3- Pick up a pebble 4- Drop the pebble in the bowl 5- Move close to the pebble\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pebble 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":"17117925488002244499.mp4"}
+{"uid":"13237716436419802194","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissues on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"648088784363576015.mp4"}
+{"uid":"13571477980216002225","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: pick a bottom right pebble from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a bottom right pebble 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 a bottom right pebble from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl Q: immediate next step? \u003cPRED\u003eA: pick a bottom right pebble from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pick a bottom right pebble from the table 2- Drop the pebble in the bowl 3- Move close to the pebble 4- Move away from the pebbles on the table 5- Move towards the pebble\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a bottom right pebble from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a bottom right pebble from the table\n\u003c/PRED\u003e","video":"17064130889115015215.mp4"}
+{"uid":"8730511456657555343","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the pebble 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 pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Release the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the pebble 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 pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Release the pebble in the bowl 2- Drop the pebble in the bowl 3- Release the pebble in the bowl 4- Pick up a pebble 5- Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl Q: immediate next step? \u003cPRED\u003eA: Release the pebble in the bowl\n\u003c/PRED\u003e","video":"11279600983644405675.mp4"}
+{"uid":"16052555286211689092","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove packets to the other corner of tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17768169228964548807.mp4"}
+{"uid":"6044440160124648494","text":"\u003ctask:success:discrete:True\u003e\nMove towards the pebble Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 pebble\n\u003c/PRED\u003e","video":"11466967013191127642.mp4"}
+{"uid":"10278732706051452175","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":"10683063736462046043.mp4"}
+{"uid":"12225353811928039604","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nSlightly move 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":"682823563742152568.mp4"}
+{"uid":"17791233075757891259","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab a pebble\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrab a pebble Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16293956873484850959.mp4"}
+{"uid":"17356982316695004163","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\non another lamp Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3598917800697037272.mp4"}
+{"uid":"2910157658072249461","text":"\u003ctask:success:discrete:True\u003e\nMove close to the pebble Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 pebble\n\u003c/PRED\u003e","video":"15971234739248490462.mp4"}
+{"uid":"15629563522009546063","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the popcorn 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":"9438098612681346868.mp4"}
+{"uid":"15653303554019241475","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green candy in the bottom part of the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1838230496257168804.mp4"}
+{"uid":"2845299872598021207","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl 16- Grab a pebble 17- Release the pebble in the bowl 18- Slightly move back 19- Move towards the pebbles 20- Pick a pebble Q: next 5 steps? \u003cPRED\u003eA: 1- push the bowl forward 2- Drop the pebble in the bowl 3- Slightly move  your arm back 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl 16- Grab a pebble 17- Release the pebble in the bowl 18- Slightly move back 19- Move towards the pebbles 20- Pick a pebble Q: immediate next step? \u003cPRED\u003eA: push the bowl forward\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: push the bowl forward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the bowl forward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the bowl 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: push the bowl forward\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the bowl 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":"17951453480506965188.mp4"}
+{"uid":"16968244833787690632","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly push the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl 16- Grab a pebble 17- Release the pebble in the bowl 18- Slightly move back 19- Move towards the pebbles 20- Pick a pebble Q: immediate next step? \u003cPRED\u003eA: Slightly push the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly push the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Slightly push the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly push 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 pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl 16- Grab a pebble 17- Release the pebble in the bowl 18- Slightly move back 19- Move towards the pebbles 20- Pick a pebble Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly push the bowl 2- Drop the pebble in the bowl 3- Slightly move  your arm back 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly push the bowl\n\u003c/PRED\u003e","video":"3592434141535391349.mp4"}
+{"uid":"1931807950801210460","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":"13579257588987769808.mp4"}
+{"uid":"6941381232066781084","text":"\u003ctask:success:discrete:True\u003e\nMove towards the pebbles Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 pebbles\n\u003c/PRED\u003e","video":"16327557439531526949.mp4"}
+{"uid":"7772955339377997015","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the white pebble from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the white pebble 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 white pebble from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl 16- Grab a pebble 17- Release the pebble in the bowl 18- Slightly move back 19- Move towards the pebbles 20- Pick a pebble Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the white pebble from the table 2- Drop the pebble in the bowl 3- Slightly move  your arm back 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Pick up the white pebble 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 white pebble from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl 16- Grab a pebble 17- Release the pebble in the bowl 18- Slightly move back 19- Move towards the pebbles 20- Pick a pebble Q: immediate next step? \u003cPRED\u003eA: Pick up the white pebble from the table\n\u003c/PRED\u003e","video":"13154092711978829509.mp4"}
+{"uid":"16458732360081943066","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the two glass over a glass in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11280948259713333660.mp4"}
+{"uid":"15837172631337926452","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":"2887569040932541995.mp4"}
+{"uid":"14270591928146240684","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pebble 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 pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl 16- Grab a pebble Q: immediate next step? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pebble 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 pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl 16- Grab a pebble Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pebble in the bowl 2- Slightly move back 3- Move towards the pebbles 4- Pick a pebble 5- Slightly push the bowl\n\u003c/PRED\u003e","video":"10646308535642733562.mp4"}
+{"uid":"3470939981711045075","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the white pebble from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the white pebble 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":"14497345373803697260.mp4"}
+{"uid":"5802448660587745984","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pebble on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pebble on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl 16- Grab a pebble 17- Release the pebble in the bowl 18- Slightly move back 19- Move towards the pebbles Q: immediate next step? \u003cPRED\u003eA: Drop the pebble on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pebble on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Drop the pebble on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl 16- Grab a pebble 17- Release the pebble in the bowl 18- Slightly move back 19- Move towards the pebbles Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pebble on the table 2- Move close to the bowl 3- Drop the pebble in the bowl 4- Slightly move  your arm back 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pebble on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9020858452846245971.mp4"}
+{"uid":"16653964479963563247","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":"10535443753135107379.mp4"}
+{"uid":"5649332875443035036","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":"3262809440751707684.mp4"}
+{"uid":"1872967848664028372","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl Q: immediate next step? \u003cPRED\u003eA: Pick up a white pebble from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up a white pebble from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up a white pebble from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up a white pebble 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 a white pebble from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Pick up a white pebble from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up a white pebble from the table 2- Slightly move back 3- Move towards the pebbles 4- Pick a pebble 5- Slightly push the bowl\n\u003c/PRED\u003e","video":"8555196526380531148.mp4"}
+{"uid":"1076709072532453867","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":"9429011057553691965.mp4"}
+{"uid":"188367204166605250","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":"916216779896619954.mp4"}
+{"uid":"2078030604765953243","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":"16427611142113864252.mp4"}
+{"uid":"14084562367184256785","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":"12927962662481798500.mp4"}
+{"uid":"11189175391029931592","text":"\u003ctask:success:discrete:False\u003e\nDrop the pebble 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: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl Q: immediate next step? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pebble 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 pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pebble in the bowl 2- Drop the pebble in the bowl 3- Move close to the pebble 4- Move away from the pebbles on the table 5- Move towards the pebble\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e","video":"17593669453822430462.mp4"}
+{"uid":"18427238538632399985","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":"8023180649533815549.mp4"}
+{"uid":"17947089226542155563","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":"2786513198458636786.mp4"}
+{"uid":"5355482276448583088","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove all the packets 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":"16860198757130877196.mp4"}
+{"uid":"11250080386889432052","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pick the right pebble from the table 2- Slightly move back 3- Move towards the pebbles 4- Pick a pebble 5- Slightly push the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: pick the right pebble from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl Q: immediate next step? \u003cPRED\u003eA: pick the right pebble 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 pebble from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the right pebble 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 right pebble from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the right pebble from the table\n\u003c/PRED\u003e","video":"10235912486361232121.mp4"}
+{"uid":"2625400281112565673","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose 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":"13716163978951559308.mp4"}
+{"uid":"3808044722365762419","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":"3379767058419533785.mp4"}
+{"uid":"17058472884980413480","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput spoons 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":"4096389741624879085.mp4"}
+{"uid":"9094128284303987959","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move to the right Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl Q: immediate next step? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Slightly move to the right\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move to the right 2- Slightly move up 3- Move close to the pebble 4- Drop the pebble in the bowl 5- Grab a pebble\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move to the right Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17065749821103179572.mp4"}
+{"uid":"1500545717625490870","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pebble in the bowl 2- drop the pebble in the bowl 3- Grab a pebble 4- Drop the pebble in the bowl 5- Release the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pebble 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 pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pebble 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":"15225500857833727588.mp4"}
+{"uid":"2422394062514377139","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":"11163109069152387207.mp4"}
+{"uid":"3127861883971757866","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the black pebble in the left transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7044463485950912097.mp4"}
+{"uid":"3803059101526952901","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move back\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl 16- Grab a pebble Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move back 2- Pick a pebble 3- Slightly push the bowl 4- Move close to the bowl 5- Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl 16- Grab a pebble Q: immediate next step? \u003cPRED\u003eA: Slightly move back\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \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","video":"10882813189431603030.mp4"}
+{"uid":"7567887283170029410","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRemove the glass from the left stack put it in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1919828243189019423.mp4"}
+{"uid":"1420735099114024117","text":"\u003ctask:success:discrete:True\u003e\npick the pebble 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 pebble from the table\n\u003c/PRED\u003e","video":"9149379892641173747.mp4"}
+{"uid":"13469944611685252896","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chip 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":"8896700115635143867.mp4"}
+{"uid":"7422998708060559319","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":"18056194695771353321.mp4"}
+{"uid":"1736491365041683468","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pebble 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: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pebble 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 pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pebble in the bowl 2- Pick up a white pebble from the table 3- drop the pebble in the bowl 4- Grab a pebble 5- Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table Q: immediate next step? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e","video":"10525702775640702506.mp4"}
+{"uid":"15052939370386946693","text":"\u003ctask:success:discrete:True\u003e\nPick a pebble Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick a pebble\n\u003c/PRED\u003e","video":"478106346762751500.mp4"}
+{"uid":"2406843231435594076","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the rack beside the wall Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3456264724369359727.mp4"}
+{"uid":"8104747211032353241","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":"15995174159289047264.mp4"}
+{"uid":"10942567755708010736","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple into the front 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":"12157524760127470975.mp4"}
+{"uid":"8409484235295241005","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pebble 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 pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl Q: immediate next step? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pebble 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 pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pebble in the bowl 2- Pick up a pebble 3- Drop the pebble in the bowl 4- Move close to the pebble 5- Move away from the pebbles on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e","video":"18395324682628011948.mp4"}
+{"uid":"4284983350608363973","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the pebble 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":"13834147656026312530.mp4"}
+{"uid":"3671479877693246198","text":"\u003ctask:success:discrete:True\u003e\nPick a pebble Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick a pebble\n\u003c/PRED\u003e","video":"5847972642249013138.mp4"}
+{"uid":"1884600721617034195","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":"4798514856773962349.mp4"}
+{"uid":"17726085905729581126","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Slightly move up\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nSlightly move 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":"18279539907034445325.mp4"}
+{"uid":"17136493275926056342","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the white pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the white pebble 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 pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble Q: immediate next step? \u003cPRED\u003eA: Drop the white pebble in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Drop the white pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the white pebble in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the white pebble in the bowl 2- Move away from the pebbles on the table 3- Move towards the pebble 4- Slightly move up 5- Move close to the pebble\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the white pebble 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":"6971052471098942853.mp4"}
+{"uid":"7641950235995663609","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up a white pebble from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up a white pebble from the table 2- Grab a pebble 3- Release the pebble in the bowl 4- Slightly move back 5- Move towards the pebbles\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up Q: immediate next step? \u003cPRED\u003eA: Pick up a white pebble from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up a white pebble from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up a white pebble from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Pick up a white pebble from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up a white pebble 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":"424669448603796937.mp4"}
+{"uid":"5354346473683780811","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Drop the white pebble in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the white pebble in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble Q: immediate next step? \u003cPRED\u003eA: Drop the white pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the white pebble in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the white pebble 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 pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the white pebble in the bowl 2- Release the pebble in the bowl 3- Slightly move back 4- Move towards the pebbles 5- Pick a pebble\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the white pebble in the bowl\n\u003c/PRED\u003e","video":"15627963767239714260.mp4"}
+{"uid":"3975559006229769937","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput plastic forks in the black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1745693619139552493.mp4"}
+{"uid":"10924316108457571041","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the triangle 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":"14144333221719601032.mp4"}
+{"uid":"4363438017815637521","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pebble in the bowl 2- Pick up a white pebble from the table 3- drop the pebble in the bowl 4- Grab a pebble 5- Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table Q: immediate next step? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pebble in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pebble 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 pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e","video":"9956585244628179861.mp4"}
+{"uid":"12222939259155442962","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the brown cloth 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":"13306589290015274575.mp4"}
+{"uid":"14836191666270113950","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move close to the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove close to 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":"3520414200615402184.mp4"}
+{"uid":"9886968043723925602","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the pebble 2- Move close to the pebble 3- Drop the pebble in the bowl 4- Grab a pebble 5- Release the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table Q: immediate next step? \u003cPRED\u003eA: Move towards the pebble\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the pebble\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the pebble Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 pebble Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 pebble\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Move towards the pebble\n\u003c/PRED\u003e","video":"715472059308467651.mp4"}
+{"uid":"10429430310142400494","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: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: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: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up a white pebble from the table 2- drop the pebble in the bowl 3- Grab a pebble 4- Drop the pebble in the bowl 5- Release the pebble in the bowl 6- Pick up a pebble 7- Drop the pebble in the bowl 8- Move close to the pebble 9- Move away from the pebbles on the table 10- Move towards the pebble 11- Slightly move up 12- Move close to the pebble 13- Drop the pebble in the bowl 14- Grab a pebble 15- Release the pebble in the bowl 16- Slightly move back 17- Move towards the pebbles 18- Pick a pebble 19- Slightly push the bowl 20- Move close to the bowl 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up a white pebble from the table 2- drop the pebble in the bowl 3- Grab a pebble 4- Drop the pebble in the bowl 5- Release the pebble in the bowl 6- Pick up a pebble 7- Drop the pebble in the bowl 8- Move close to the pebble 9- Move away from the pebbles on the table 10- Move towards the pebble 11- Slightly move up 12- Move close to the pebble 13- Drop the pebble in the bowl 14- Grab a pebble 15- Release the pebble in the bowl 16- Slightly move back 17- Move towards the pebbles 18- Pick a pebble 19- Slightly push the bowl 20- Move close to the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move  your arm back 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Slightly move  your arm back\n\u003c/PRED\u003e","video":"13175173019297022130.mp4"}
+{"uid":"2840294751892529530","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"6954219439699777742.mp4"}
+{"uid":"1882435526764153254","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":"5312602379435854328.mp4"}
+{"uid":"12507012156213343523","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the pebble 2- Grab a pebble 3- Release the pebble in the bowl 4- Slightly move back 5- Move towards the pebbles\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble Q: immediate next step? \u003cPRED\u003eA: Move close to the pebble\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the pebble\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove close to the pebble Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 pebble Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 pebble\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Move close to the pebble\n\u003c/PRED\u003e","video":"9295337536332955419.mp4"}
+{"uid":"1506698664960940941","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up a white pebble from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl 16- Grab a pebble 17- Release the pebble in the bowl 18- Slightly move back Q: immediate next step? \u003cPRED\u003eA: Pick up a white pebble from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up a white pebble from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Pick up a white pebble from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up a white pebble from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up a white pebble from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl 16- Grab a pebble 17- Release the pebble in the bowl 18- Slightly move back Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up a white pebble from the table 2- Slightly push the bowl 3- Move close to the bowl 4- Drop the pebble in the bowl 5- Slightly move  your arm back\n\u003c/PRED\u003e","video":"2889625211448400772.mp4"}
+{"uid":"5624708316528704427","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Pick a pebble\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick a pebble 2- Pick up a white pebble from the table 3- drop the pebble in the bowl 4- Grab a pebble 5- Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick a pebble Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick a pebble\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick a pebble Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick a pebble\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick a pebble\n\u003c/PRED\u003e","video":"3257628002206477182.mp4"}
+{"uid":"11362273443953182356","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":"6720016269410924212.mp4"}
+{"uid":"12986910034789496655","text":"\u003ctask:success:discrete:False\u003e\nRelease the pebble 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: Release the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Release the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble Q: next 5 steps? \u003cPRED\u003eA: 1- Release the pebble in the bowl 2- Drop the pebble in the bowl 3- Move close to the pebble 4- Move away from the pebbles on the table 5- Move towards the pebble\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the pebble 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 pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble Q: immediate next step? \u003cPRED\u003eA: Release the pebble in the bowl\n\u003c/PRED\u003e","video":"5616353090175532402.mp4"}
+{"uid":"9413126899781378253","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the pebble in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up a white pebble from the table 2- drop the pebble in the bowl 3- Grab a pebble 4- Drop the pebble in the bowl 5- Release the pebble in the bowl 6- Pick up a pebble 7- Drop the pebble in the bowl 8- Move close to the pebble 9- Move away from the pebbles on the table 10- Move towards the pebble 11- Slightly move up 12- Move close to the pebble 13- Drop the pebble in the bowl 14- Grab a pebble 15- Release the pebble in the bowl 16- Slightly move back 17- Move towards the pebbles 18- Pick a pebble 19- Slightly push the bowl 20- Drop the pebble 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: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up a white pebble from the table 2- drop the pebble in the bowl 3- Grab a pebble 4- Drop the pebble in the bowl 5- Release the pebble in the bowl 6- Pick up a pebble 7- Drop the pebble in the bowl 8- Move close to the pebble 9- Move away from the pebbles on the table 10- Move towards the pebble 11- Slightly move up 12- Move close to the pebble 13- Drop the pebble in the bowl 14- Grab a pebble 15- Release the pebble in the bowl 16- Slightly move back 17- Move towards the pebbles 18- Pick a pebble 19- Slightly push the bowl 20- Drop the pebble in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"8343675797410477269.mp4"}
+{"uid":"7937005117378149866","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the indoor plant to the right 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":"9564307011005685524.mp4"}
+{"uid":"12681835755465762647","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the pebble on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the pebble on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13221106446001371496.mp4"}
+{"uid":"7694678834962147239","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick a white pebble 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 a white pebble from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl Q: immediate next step? \u003cPRED\u003eA: Pick a white pebble from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick a white pebble from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Pick a white pebble from the table 2- Pick up a pebble 3- Drop the pebble in the bowl 4- Move close to the pebble 5- Move away from the pebbles on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Pick a white pebble from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick a white pebble 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":"12474054008082614973.mp4"}
+{"uid":"1717534804807057537","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace pistachio nut into glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5983511202372903752.mp4"}
+{"uid":"3856014152186926748","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the 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":"5226893200298672745.mp4"}
+{"uid":"2419268246445940964","text":"\u003ctask:success:discrete:False\u003e\npick a middle pebble 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 a middle pebble from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pick a middle pebble from the table 2- Release the pebble in the bowl 3- Pick up a pebble 4- Drop the pebble in the bowl 5- Move close to the pebble\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl Q: immediate next step? \u003cPRED\u003eA: pick a middle pebble from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a middle pebble from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a middle pebble from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: pick a middle pebble from the table\n\u003c/PRED\u003e","video":"3915883785665785570.mp4"}
+{"uid":"15696046019436190696","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a red packet in the black stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4096842098014602055.mp4"}
+{"uid":"11351051610444749824","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":"4877910524658478634.mp4"}
+{"uid":"14067883899515991015","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the tray 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":"15152337824476987778.mp4"}
+{"uid":"6089734483056013931","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the key on the drawer table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1289791023594731806.mp4"}
+{"uid":"12995383431971304663","text":"\u003ctask:success:discrete:True\u003e\nPick up the right white pebble 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 right white pebble from the table\n\u003c/PRED\u003e","video":"5192896373240759137.mp4"}
+{"uid":"15265905054437633454","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up a pebble Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl Q: immediate next step? \u003cPRED\u003eA: Pick up a pebble\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Pick up a pebble\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up a pebble\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up a pebble\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up a pebble 2- Move close to the pebble 3- Move away from the pebbles on the table 4- Move towards the pebble 5- Slightly move up\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up a pebble Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2550955088759998569.mp4"}
+{"uid":"13243250569263413233","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the white pebble in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the white pebble 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 pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the white pebble in the bowl 2- Pick up a pebble 3- Drop the pebble in the bowl 4- Move close to the pebble 5- Move away from the pebbles on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the white pebble in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble Q: immediate next step? \u003cPRED\u003eA: Drop the white pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the white pebble 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 pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Drop the white pebble in the bowl\n\u003c/PRED\u003e","video":"7336787961033210063.mp4"}
+{"uid":"11756332476983357182","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":"177963783480859262.mp4"}
+{"uid":"2423200422807578886","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the top pebble from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up Q: next 5 steps? \u003cPRED\u003eA: 1- pick the top pebble from the table 2- Grab a pebble 3- Release the pebble in the bowl 4- Slightly move back 5- Move towards the pebbles\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: pick the top pebble from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the top pebble from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the top pebble from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up Q: immediate next step? \u003cPRED\u003eA: pick the top pebble from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the top pebble from the table\n\u003c/PRED\u003e","video":"9881191130534415895.mp4"}
+{"uid":"8834893774076902813","text":"\u003ctask:success:discrete:True\u003e\nPick up a white pebble 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 a white pebble from the table\n\u003c/PRED\u003e","video":"17555541260866019288.mp4"}
+{"uid":"1447671949357969613","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Drop the pebble in the bowl 2- Pick up a white pebble from the table 3- drop the pebble in the bowl 4- Grab a pebble 5- Drop the pebble in the bowl 6- Release the pebble in the bowl 7- Pick up a pebble 8- Drop the pebble in the bowl 9- Move close to the pebble 10- Move away from the pebbles on the table 11- Move towards the pebble 12- Slightly move up 13- Move close to the pebble 14- Drop the pebble in the bowl 15- Grab a pebble 16- Release the pebble in the bowl 17- Slightly move back 18- Move towards the pebbles 19- Pick a pebble 20- Slightly push the bowl Q: immediate next step? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pebble 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 pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pebble 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: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Drop the pebble in the bowl 2- Pick up a white pebble from the table 3- drop the pebble in the bowl 4- Grab a pebble 5- Drop the pebble in the bowl 6- Release the pebble in the bowl 7- Pick up a pebble 8- Drop the pebble in the bowl 9- Move close to the pebble 10- Move away from the pebbles on the table 11- Move towards the pebble 12- Slightly move up 13- Move close to the pebble 14- Drop the pebble in the bowl 15- Grab a pebble 16- Release the pebble in the bowl 17- Slightly move back 18- Move towards the pebbles 19- Pick a pebble 20- Slightly push the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pebble in the bowl 2- done\n\u003c/PRED\u003e","video":"3636088927375672100.mp4"}
+{"uid":"10948309080527473208","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a middle top pebble from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl Q: immediate next step? \u003cPRED\u003eA: pick a middle top pebble from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a middle top pebble from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a middle top pebble from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: pick a middle top pebble from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a middle top pebble from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pick a middle top pebble from the table 2- Pick up a pebble 3- Drop the pebble in the bowl 4- Move close to the pebble 5- Move away from the pebbles on the table\n\u003c/PRED\u003e","video":"332156331412371552.mp4"}
+{"uid":"12679880979546415100","text":"\u003ctask:success:discrete:False\u003e\nPick a white pebble 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 a white pebble 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 a white pebble from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Pick a white pebble from the table 2- Release the pebble in the bowl 3- Pick up a pebble 4- Drop the pebble in the bowl 5- Move close to the pebble\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl Q: immediate next step? \u003cPRED\u003eA: Pick a white pebble from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick a white pebble from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Pick a white pebble from the table\n\u003c/PRED\u003e","video":"3762956409603891251.mp4"}
+{"uid":"7817788848444238930","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5081759237254035803.mp4"}
+{"uid":"405433365420483028","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Drop the pebble in the bowl 2- Pick up a white pebble from the table 3- drop the pebble in the bowl 4- Grab a pebble 5- Drop the pebble in the bowl 6- Release the pebble in the bowl 7- Pick up a pebble 8- Drop the pebble in the bowl 9- Move close to the pebble 10- Move away from the pebbles on the table 11- Move towards the pebble 12- Slightly move up 13- Move close to the pebble 14- Drop the pebble in the bowl 15- Grab a pebble 16- Release the pebble in the bowl 17- Slightly move back 18- Move towards the pebbles 19- Pick a pebble 20- Slightly push the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pebble in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pebble in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Drop the pebble in the bowl 2- Pick up a white pebble from the table 3- drop the pebble in the bowl 4- Grab a pebble 5- Drop the pebble in the bowl 6- Release the pebble in the bowl 7- Pick up a pebble 8- Drop the pebble in the bowl 9- Move close to the pebble 10- Move away from the pebbles on the table 11- Move towards the pebble 12- Slightly move up 13- Move close to the pebble 14- Drop the pebble in the bowl 15- Grab a pebble 16- Release the pebble in the bowl 17- Slightly move back 18- Move towards the pebbles 19- Pick a pebble 20- Slightly push the bowl Q: immediate next step? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e","video":"7858063681021568641.mp4"}
+{"uid":"15841521678187845210","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: pick a pebble from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick a pebble 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 a pebble from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick a pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a pebble from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick a pebble from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a pebble from the table\n\u003c/PRED\u003e","video":"4387895432797867385.mp4"}
+{"uid":"5287620693077377572","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":"7222753988420455991.mp4"}
+{"uid":"10896373892696190193","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace blue can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15097013665023200844.mp4"}
+{"uid":"7100462740777882545","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick a pebble Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick a pebble\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl 16- Grab a pebble 17- Release the pebble in the bowl 18- Slightly move back Q: immediate next step? \u003cPRED\u003eA: Pick a pebble\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl 16- Grab a pebble 17- Release the pebble in the bowl 18- Slightly move back Q: next 5 steps? \u003cPRED\u003eA: 1- Pick a pebble 2- Slightly push the bowl 3- Move close to the bowl 4- Drop the pebble in the bowl 5- Slightly move  your arm back\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick a pebble Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick a pebble\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Pick a pebble\n\u003c/PRED\u003e","video":"6042060997202748876.mp4"}
+{"uid":"5441290228224360400","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput green 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":"6821980453360315325.mp4"}
+{"uid":"11210509375003347843","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the pebble 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 pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Release the pebble in the bowl 2- Move towards the pebbles 3- Pick a pebble 4- Slightly push the bowl 5- Move close to the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl Q: immediate next step? \u003cPRED\u003eA: Release the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the pebble 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 pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Release the pebble in the bowl\n\u003c/PRED\u003e","video":"10901898667877454930.mp4"}
+{"uid":"7348933085423360170","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the can 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":"8603030148784264977.mp4"}
+{"uid":"1409388709472435596","text":"\u003ctask:success:discrete:True\u003e\npick a middle top pebble 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 a middle top pebble from the table\n\u003c/PRED\u003e","video":"485436594139290531.mp4"}
+{"uid":"1618776905821563596","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":"4675651721338118165.mp4"}
+{"uid":"13784208732166937061","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the pebbles\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the pebbles\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the pebbles Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Move towards the pebbles\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl 16- Grab a pebble 17- Release the pebble in the bowl Q: immediate next step? \u003cPRED\u003eA: Move towards the pebbles\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the pebbles Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl 16- Grab a pebble 17- Release the pebble in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the pebbles 2- Slightly push the bowl 3- Move close to the bowl 4- Drop the pebble in the bowl 5- Slightly move  your arm back\n\u003c/PRED\u003e","video":"6954467620291175531.mp4"}
+{"uid":"11250055148711508599","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Slightly move up 2- Drop the pebble in the bowl 3- Grab a pebble 4- Release the pebble in the bowl 5- Slightly move back\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table Q: immediate next step? \u003cPRED\u003eA: Slightly move up\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Slightly move up\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nSlightly move up Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nSlightly move up Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Slightly move up\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Slightly move up\n\u003c/PRED\u003e","video":"6239118313405653923.mp4"}
+{"uid":"14500648233831814218","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab a pebble\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrab a pebble Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4379288601595250275.mp4"}
+{"uid":"2015764581338931478","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the right white pebble from the table 2- Pick up a white pebble from the table 3- drop the pebble in the bowl 4- Grab a pebble 5- Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the right white pebble 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 right white pebble from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the right white pebble from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the right white pebble 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 right white pebble from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Pick up the right white pebble from the table\n\u003c/PRED\u003e","video":"16707834949992487913.mp4"}
+{"uid":"1085346978698107967","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table Q: immediate next step? \u003cPRED\u003eA: Pick up a white pebble from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up a white pebble from the table 2- Grab a pebble 3- Drop the pebble in the bowl 4- Release the pebble in the bowl 5- Pick up a pebble\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up a white pebble from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up a white pebble 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 a white pebble from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Pick up a white pebble from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up a white pebble from the table\n\u003c/PRED\u003e","video":"5783824140735932788.mp4"}
+{"uid":"11358780804171702779","text":"\u003ctask:success:discrete:True\u003e\nDrop the white pebble in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the white pebble in the bowl\n\u003c/PRED\u003e","video":"18323616261138852533.mp4"}
+{"uid":"11630604583015377321","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up a white pebble from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up a white pebble 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":"18430992442845342850.mp4"}
+{"uid":"7110239294531141755","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":"10237103360916774668.mp4"}
+{"uid":"14489103559778243708","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl 16- Grab a pebble 17- Release the pebble in the bowl 18- Slightly move back 19- Move towards the pebbles 20- Pick a pebble Q: immediate next step? \u003cPRED\u003eA: Move close to the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove close to 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 pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Move close to the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble 15- Drop the pebble in the bowl 16- Grab a pebble 17- Release the pebble in the bowl 18- Slightly move back 19- Move towards the pebbles 20- Pick a pebble Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the bowl 2- Slightly 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: Move close to the bowl\n\u003c/PRED\u003e","video":"13444273859804276322.mp4"}
+{"uid":"9277509755605153344","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the white pebble from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the white pebble from the table 2- Move close to the pebble 3- Move away from the pebbles on the table 4- Move towards the pebble 5- Slightly move up\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the white pebble from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the white pebble from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl Q: immediate next step? \u003cPRED\u003eA: Pick up the white pebble from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Pick up the white pebble from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the white pebble 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":"7007399806163141297.mp4"}
+{"uid":"8571056054511911987","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: move your arm towards the pebble\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm towards the pebble\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm towards the pebble Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl Q: immediate next step? \u003cPRED\u003eA: move your arm towards the pebble\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm towards the pebble Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm towards the pebble 2- Move away from the pebbles on the table 3- Move towards the pebble 4- Slightly move up 5- Move close to the pebble\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm towards the pebble\n\u003c/PRED\u003e","video":"12702324312087163935.mp4"}
+{"uid":"17562011548662073499","text":"\u003ctask:success:discrete:False\u003e\ndrop the pebble 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\ndrop the pebble 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 pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pebble in the bowl 2- Grab a pebble 3- Drop the pebble in the bowl 4- Release the pebble in the bowl 5- Pick up a pebble\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl Q: immediate next step? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e","video":"6898304521431936827.mp4"}
+{"uid":"14215127948191489423","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble Q: immediate next step? \u003cPRED\u003eA: Move close to the pebble\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble Q: next 5 steps? \u003cPRED\u003eA: 1- Move close to the pebble 2- Move towards the pebble 3- Slightly move up 4- Move close to the pebble 5- Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove close to the pebble Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 pebble Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 pebble\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Move close to the pebble\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move close to the pebble\n\u003c/PRED\u003e","video":"13734916836733541025.mp4"}
+{"uid":"5500450524842500997","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick a top right pebble from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: pick a top right pebble from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl Q: immediate next step? \u003cPRED\u003eA: pick a top right pebble from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick a top right pebble from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick a top right pebble 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 a top right pebble from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pick a top right pebble from the table 2- drop the pebble in the bowl 3- Grab a pebble 4- Drop the pebble in the bowl 5- Release the pebble in the bowl\n\u003c/PRED\u003e","video":"12447061776234135837.mp4"}
+{"uid":"16526063131168081090","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the chairs Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7051733204616028163.mp4"}
+{"uid":"6572360304035726305","text":"\u003ctask:success:discrete:True\u003e\nRelease the pebble 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: Release the pebble in the bowl\n\u003c/PRED\u003e","video":"9372071641554302565.mp4"}
+{"uid":"15036158627260930221","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pebble 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 pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pebble 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 pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pebble in the bowl 2- Release the pebble in the bowl 3- Slightly move back 4- Move towards the pebbles 5- Pick a pebble\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up Q: immediate next step? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e","video":"8586762694878438996.mp4"}
+{"uid":"1817122504447947352","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl Q: immediate next step? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pebble 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 pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pebble in the bowl 2- Move away from the pebbles on the table 3- Move towards the pebble 4- Slightly move up 5- Move close to the pebble\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e","video":"14032869121958063414.mp4"}
+{"uid":"17232548781085737251","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 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":"14376018555919919030.mp4"}
+{"uid":"15394777490699570282","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Pistachio 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":"10974761323722542481.mp4"}
+{"uid":"18012177981013536433","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up a white pebble from the table 2- drop the pebble in the bowl 3- Grab a pebble 4- Drop the pebble in the bowl 5- Release the pebble in the bowl 6- Pick up a pebble 7- Drop the pebble in the bowl 8- Move close to the pebble 9- Move away from the pebbles on the table 10- Move towards the pebble 11- Slightly move up 12- Move close to the pebble 13- Drop the pebble in the bowl 14- Grab a pebble 15- Release the pebble in the bowl 16- Slightly move back 17- Move towards the pebbles 18- Pick a pebble 19- Slightly push the bowl 20- Move close to the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pebble in the bowl 2- Slightly move  your arm back 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pebble 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: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up a white pebble from the table 2- drop the pebble in the bowl 3- Grab a pebble 4- Drop the pebble in the bowl 5- Release the pebble in the bowl 6- Pick up a pebble 7- Drop the pebble in the bowl 8- Move close to the pebble 9- Move away from the pebbles on the table 10- Move towards the pebble 11- Slightly move up 12- Move close to the pebble 13- Drop the pebble in the bowl 14- Grab a pebble 15- Release the pebble in the bowl 16- Slightly move back 17- Move towards the pebbles 18- Pick a pebble 19- Slightly push the bowl 20- Move close to the bowl Q: immediate next step? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pebble 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":"4414116585262428579.mp4"}
+{"uid":"5139528843943077322","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the apple inside the container box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7431057735571470577.mp4"}
+{"uid":"14682170083784544722","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab a pebble\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab a pebble Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab a pebble Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble Q: next 5 steps? \u003cPRED\u003eA: 1- Grab a pebble 2- Slightly move back 3- Move towards the pebbles 4- Pick a pebble 5- Slightly push the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Grab a pebble\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab a pebble\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble Q: immediate next step? \u003cPRED\u003eA: Grab a pebble\n\u003c/PRED\u003e","video":"13159691050303522155.mp4"}
+{"uid":"3325226167928572112","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":"4697206177939060188.mp4"}
+{"uid":"7120210651008606998","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble Q: immediate next step? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pebble 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\ndrop the pebble 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: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl 5- Grab a pebble 6- Drop the pebble in the bowl 7- Release the pebble in the bowl 8- Pick up a pebble 9- Drop the pebble in the bowl 10- Move close to the pebble 11- Move away from the pebbles on the table 12- Move towards the pebble 13- Slightly move up 14- Move close to the pebble Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pebble in the bowl 2- Grab a pebble 3- Release the pebble in the bowl 4- Slightly move back 5- Move towards the pebbles\n\u003c/PRED\u003e","video":"8245049942823977274.mp4"}
+{"uid":"2849698533763541374","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"3650242323999495333.mp4"}
+{"uid":"15247706276963547842","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Drop the pebble in the bowl 2- Pick up a white pebble from the table 3- drop the pebble in the bowl 4- Grab a pebble 5- Drop the pebble in the bowl 6- Release the pebble in the bowl 7- Pick up a pebble 8- Drop the pebble in the bowl 9- Move close to the pebble 10- Move away from the pebbles on the table 11- Move towards the pebble 12- Slightly move up 13- Move close to the pebble 14- Drop the pebble in the bowl 15- Grab a pebble 16- Release the pebble in the bowl 17- Slightly move back 18- Move towards the pebbles 19- Pick a pebble 20- Slightly push the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pick the pebble from the table 2- Slightly move  your arm back 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the pebble from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: pick the pebble from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Drop the pebble in the bowl 2- Pick up a white pebble from the table 3- drop the pebble in the bowl 4- Grab a pebble 5- Drop the pebble in the bowl 6- Release the pebble in the bowl 7- Pick up a pebble 8- Drop the pebble in the bowl 9- Move close to the pebble 10- Move away from the pebbles on the table 11- Move towards the pebble 12- Slightly move up 13- Move close to the pebble 14- Drop the pebble in the bowl 15- Grab a pebble 16- Release the pebble in the bowl 17- Slightly move back 18- Move towards the pebbles 19- Pick a pebble 20- Slightly push the bowl Q: immediate next step? \u003cPRED\u003eA: pick the pebble from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the pebble from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the pebble from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the pebble from the table\n\u003c/PRED\u003e","video":"7273377042480460739.mp4"}
+{"uid":"1701171283322390975","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace sugar 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":"16903942189173430063.mp4"}
+{"uid":"8893594919257322421","text":"\u003ctask:success:discrete:True\u003e\nPick a white pebble 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 a white pebble from the table\n\u003c/PRED\u003e","video":"17143003410102934499.mp4"}
+{"uid":"10758888211976599141","text":"\u003ctask:success:discrete:True\u003e\nPick up a white pebble 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 a white pebble from the table\n\u003c/PRED\u003e","video":"10198477146683867774.mp4"}
+{"uid":"5900560190767246955","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack 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":"15623008405111862465.mp4"}
+{"uid":"11651095955725161041","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Grab a pebble 2- Release the pebble in the bowl 3- Pick up a pebble 4- Drop the pebble in the bowl 5- Move close to the pebble\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab a pebble Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Grab a pebble\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl 3- Pick up a white pebble from the table 4- drop the pebble in the bowl Q: immediate next step? \u003cPRED\u003eA: Grab a pebble\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab a pebble\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab a pebble Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab a pebble\n\u003c/PRED\u003e","video":"13292611155002958548.mp4"}
+{"uid":"6132199498701603978","text":"\u003ctask:success:discrete:True\u003e\nMove close to the pebble Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 pebble\n\u003c/PRED\u003e","video":"10859690789595312043.mp4"}
+{"uid":"14358754987949562020","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange 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":"18108935545268868316.mp4"}
+{"uid":"12326331899879650263","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl Q: immediate next step? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the pebble 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 pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl Q: immediate next step? \u003cPRED\u003eA: Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pick up candy and put them into the red bowl. last 20 steps: 1- Pick up the right white pebble from the table 2- Drop the pebble in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the pebble in the bowl 2- Drop the pebble in the bowl 3- Release the pebble in the bowl 4- Pick up a pebble 5- Drop the pebble in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the pebble 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: Drop the pebble in the bowl\n\u003c/PRED\u003e","video":"12273349857507640420.mp4"}
+{"uid":"4511855971538131205","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the green marker into 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":"10519505097907222028.mp4"}
+{"uid":"718681295939877493","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop  the pen in pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9422951653462043685.mp4"}
+{"uid":"5673725125792109926","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack paper cups on top of existing 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: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack paper cups on top of existing stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup 2- stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack paper cups on top of existing stack 2- stack the cup 3- stack the cup 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup 2- stack the cup Q: immediate next step? \u003cPRED\u003eA: stack paper cups on top of existing stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack paper cups on top of existing stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack paper cups on top of existing stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack paper cups on top of existing stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2328998317684484177.mp4"}
+{"uid":"2463697833814673216","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":"14066681407483757625.mp4"}
+{"uid":"7680454016073974160","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the silver packet in the box\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","video":"9961023084689676963.mp4"}
+{"uid":"13039018165542156822","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nOpen 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":"5284199376159580765.mp4"}
+{"uid":"15706686639485803074","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack 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":"5354031827052215522.mp4"}
+{"uid":"14944887416762964545","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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: stack the mini cups on top of each other. last 20 steps: 1- stack the cup 2- stack the cup 3- stack the cup 4- stack the cup Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup 2- stack the cup 3- stack the cup 4- stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cup 2- done\n\u003c/PRED\u003e","video":"17805823780390593195.mp4"}
+{"uid":"6309574282288918667","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclean the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13603294353276061169.mp4"}
+{"uid":"5846889082788221064","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in box 2- Put the silver 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 packet in box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e","video":"6205821592136980523.mp4"}
+{"uid":"17992537892106737285","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- Put the silver packet in the box 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e","video":"6733194126610268423.mp4"}
+{"uid":"8797254496576318618","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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packet in the box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- 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:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \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 coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e","video":"11226374129250718091.mp4"}
+{"uid":"17431525282027885493","text":"\u003ctask:success:discrete:True\u003e\nStack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e","video":"4362571344799621409.mp4"}
+{"uid":"5533501835014519860","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup 2- stack the cup 3- stack the cup 4- stack the cup 5- stack the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup 2- stack the cup 3- stack the cup 4- stack the cup 5- stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e","video":"17795010538042169196.mp4"}
+{"uid":"10175539307705422590","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup 2- stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the glass 2- stack the cup 3- stack the cup 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup 2- stack the cup Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2992048527830447445.mp4"}
+{"uid":"35622589745579664","text":"\u003ctask:success:discrete:True\u003e\nStack the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the paper cup\n\u003c/PRED\u003e","video":"10305444888839542304.mp4"}
+{"uid":"5365304556849231913","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPush the door 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":"15527839970542377119.mp4"}
+{"uid":"9791351422046223307","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the silver 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":"4431588238112080444.mp4"}
+{"uid":"811812947078428944","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to the duster Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7652743437218240763.mp4"}
+{"uid":"13010490966470030708","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packet in the box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- 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: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: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 coffee packets in the box Q: immediate next step? \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 coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e","video":"14906165027341954169.mp4"}
+{"uid":"1834074218468334646","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop  prep pad 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":"9036915492342187247.mp4"}
+{"uid":"15373905945457874635","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e","video":"4751500032650600915.mp4"}
+{"uid":"8650491049955293891","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e","video":"3209006512309028127.mp4"}
+{"uid":"13334613554071986549","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the left disposable 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":"9509092159098183048.mp4"}
+{"uid":"16673053248440772383","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the candy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring some choclates to my desk from the mk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the candy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring some choclates to my desk from the mk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the candy 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 candy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace 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:planning:freeform\u003e\ncurrent goal is: can you bring some choclates to my desk from the mk Q: immediate next step? \u003cPRED\u003eA: Place the candy on the table\n\u003c/PRED\u003e","video":"15179027963245959629.mp4"}
+{"uid":"3496547882509938130","text":"\u003ctask:success:discrete:True\u003e\nstack paper cups on top of existing stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack paper cups on top of existing stack\n\u003c/PRED\u003e","video":"401562645458872996.mp4"}
+{"uid":"4937250195605782116","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack paper cups on top of existing stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack paper cups on top of existing stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack paper cups on top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack paper cups on top of existing stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup 2- stack the cup 3- stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack paper cups on top of existing stack 2- stack the cup 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup 2- stack the cup 3- stack the cup Q: immediate next step? \u003cPRED\u003eA: stack paper cups on top of existing stack\n\u003c/PRED\u003e","video":"1003981887329717822.mp4"}
+{"uid":"16719990547731637765","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6104900418637323245.mp4"}
+{"uid":"12963602779257612361","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":"7040029757385764492.mp4"}
+{"uid":"9693017116416260495","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white 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":"16761628508384848630.mp4"}
+{"uid":"5642150574277922200","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the seaweed snacks packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11353790175388760414.mp4"}
+{"uid":"7293735482478272321","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15134584112576653083.mp4"}
+{"uid":"16901306842425731096","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the glass 2- stack the cup 3- stack the cup 4- stack the cup 5- done\n\u003c/PRED\u003e","video":"10169275101762208415.mp4"}
+{"uid":"7127391666603905073","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":"1862084381739652294.mp4"}
+{"uid":"11536927148925920345","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to 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":"13919667585139563164.mp4"}
+{"uid":"16224384944849603703","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":"13903503587258021317.mp4"}
+{"uid":"15129506474318273489","text":"\u003ctask:success:discrete:False\u003e\nput packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e","video":"14618583404414372585.mp4"}
+{"uid":"17275552204285494679","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10767854919082690564.mp4"}
+{"uid":"11477478434232051323","text":"\u003ctask:success:discrete:True\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e","video":"839557671457328110.mp4"}
+{"uid":"7567510501320863389","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nStack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14806642480379680510.mp4"}
+{"uid":"18252708889537059815","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a brown sugar packet inside the organizer box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2918089227413648822.mp4"}
+{"uid":"2008356306898834667","text":"\u003ctask:success:discrete:False\u003e\nStack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the glass 2- stack the cup 3- stack the cup 4- stack the cup 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e","video":"9744322875332377705.mp4"}
+{"uid":"8853832087845034838","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack 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":"13987323806663314277.mp4"}
+{"uid":"5261357381096653485","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstuck 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":"14405590447920134456.mp4"}
+{"uid":"4483470595214763033","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the silver packet in the box\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:success:discrete:True\u003e\nput packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e","video":"3125701866352621503.mp4"}
+{"uid":"13676722008072925114","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack paper cups on top of existing stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup 2- stack the cup 3- stack the cup 4- stack the cup 5- stack paper cups on top of existing stack Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack paper cups on top of existing stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup 2- stack the cup 3- stack the cup 4- stack the cup 5- stack paper cups on top of existing stack Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"3691993446048770599.mp4"}
+{"uid":"15062213454575593158","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":"5307868756037592179.mp4"}
+{"uid":"14303927016645632678","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack paper cups on top of existing stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack paper cups on top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup 2- stack the cup 3- stack the cup 4- stack the cup Q: immediate next step? \u003cPRED\u003eA: stack paper cups on top of existing stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack paper cups on top of existing stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack paper cups on top of existing stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup 2- stack the cup 3- stack the cup 4- stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack paper cups on top of existing stack 2- done\n\u003c/PRED\u003e","video":"15012005629778671258.mp4"}
+{"uid":"442938313106881903","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":"434964233415451168.mp4"}
+{"uid":"5987131071527830155","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":"6933067665585313302.mp4"}
+{"uid":"2030996316671981430","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":"13404509557316801291.mp4"}
+{"uid":"14025536915809602717","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cup 2- stack the cup 3- stack the cup 4- stack the cup 5- stack the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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\nstack 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: stack the cup\n\u003c/PRED\u003e","video":"14796594895101924852.mp4"}
+{"uid":"7096013769158983051","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the plastic knife on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18075922324925177738.mp4"}
+{"uid":"1506855091466330435","text":"\u003ctask:success:discrete:True\u003e\nStack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup 2- stack the cup 3- stack the cup 4- stack the cup 5- Stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup 2- stack the cup 3- stack the cup 4- stack the cup 5- Stack the glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e","video":"1509097622326464168.mp4"}
+{"uid":"12859924270957413882","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packet in the box 2- place packet in the cotton box 3- Put the silver packet in the box 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton 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 coffee packets 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: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":"18161558361238379034.mp4"}
+{"uid":"1583976058972095687","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the cotton box 2- Put the silver packet in the box 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e","video":"17948645281413673323.mp4"}
+{"uid":"3845332140192888765","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the cotton box 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16643317738143926203.mp4"}
+{"uid":"697281154770902053","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put 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 packet in box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packet in the box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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:success:discrete:False\u003e\nput packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box Q: immediate next step? \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","video":"4263988420834775199.mp4"}
+{"uid":"9039318419796942315","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5090124296866631892.mp4"}
+{"uid":"14908482247163663391","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Stack the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack 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: stack the mini cups on top of each other. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the paper cup 2- stack the cup 3- stack the cup 4- stack the cup 5- stack the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Stack the paper cup\n\u003c/PRED\u003e","video":"5392865124226684232.mp4"}
+{"uid":"5256132802931120951","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":"13938686204477332458.mp4"}
+{"uid":"2641626984423840844","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e","video":"14484355175309212987.mp4"}
+{"uid":"14550570033190997688","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packet in the box 2- place packet in the cotton box 3- place packet in the cotton box 4- Put the silver packet in the box 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton 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: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","video":"1755973167893162870.mp4"}
+{"uid":"4035727717254346235","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e","video":"16056810462016641981.mp4"}
+{"uid":"8849102088405591224","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop marker 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":"12206965591373975354.mp4"}
+{"uid":"1661496995432270362","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the glass 2- stack the cup 3- stack the cup 4- stack the cup 5- stack the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e","video":"13930412208005653340.mp4"}
+{"uid":"6379609008239578440","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in box 2- Put the silver packet in the box 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e","video":"16471686168438799474.mp4"}
+{"uid":"7783247182458634765","text":"\u003ctask:success:discrete:True\u003e\nstack 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: stack the cup\n\u003c/PRED\u003e","video":"16920381912741707847.mp4"}
+{"uid":"11277464492777843341","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12234691975965781283.mp4"}
+{"uid":"17502927416019160813","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packet in the box 2- done\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: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 coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packet in the cotton 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 coffee packets in the box Q: immediate next step? \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: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":"5188182324870516628.mp4"}
+{"uid":"12254156629032893462","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the cotton box 2- place packet in the cotton box 3- Put the silver packet in the box 4- done\n\u003c/PRED\u003e","video":"2325968400556747273.mp4"}
+{"uid":"11527885418488784266","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \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 coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton 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: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 coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packet in the box 2- Put the silver 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 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","video":"18182100369623561049.mp4"}
+{"uid":"7939389607073503134","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the silver packet in the box\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","video":"12437143495153176185.mp4"}
+{"uid":"3857215973626448359","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":"6326806341172545523.mp4"}
+{"uid":"17392845828341635919","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the black 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":"17482601828036402683.mp4"}
+{"uid":"18123857452849337222","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the silver packet in the box\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","video":"2335382310149783240.mp4"}
+{"uid":"1778234556733543294","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack paper cups on top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack paper cups on top of existing stack 2- stack the cup 3- stack the cup 4- stack the cup 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack paper cups on top of existing stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack paper cups on top of existing stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack paper cups on top of existing stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup Q: immediate next step? \u003cPRED\u003eA: stack paper cups on top of existing stack\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack paper cups on top of existing stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8490672995149543082.mp4"}
+{"uid":"7445438063368704528","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the sticky note put 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":"3839349564309543064.mp4"}
+{"uid":"7401286440871551019","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack 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: stack the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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: stack the mini cups on top of each other. last 20 steps: 1- stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cup 2- stack the cup 3- stack the cup 4- stack the cup 5- done\n\u003c/PRED\u003e","video":"7987692378129495647.mp4"}
+{"uid":"1481548076566713367","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":"12529570300308557530.mp4"}
+{"uid":"4533989068880303710","text":"\u003ctask:success:discrete:True\u003e\nstack paper cups on top of existing stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack paper cups on top of existing stack\n\u003c/PRED\u003e","video":"144228786468918453.mp4"}
+{"uid":"4882106617003089980","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":"1514814651759300497.mp4"}
+{"uid":"8076294574142654158","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13068745341659939982.mp4"}
+{"uid":"12321889086315442579","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":"7279277779260814765.mp4"}
+{"uid":"3478136213225778557","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace packet in the cotton box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box\n\u003c/PRED\u003e","video":"15887649234962796429.mp4"}
+{"uid":"3162658384785780251","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup 2- stack the cup 3- stack the cup Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nStack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup 2- stack the cup 3- stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the glass 2- stack the cup 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e","video":"2647073060678255627.mp4"}
+{"uid":"388928301557352910","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop 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":"14998308664157046064.mp4"}
+{"uid":"14141323002380906535","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":"10132454629666858773.mp4"}
+{"uid":"14306757252088627268","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":"6698941847569304765.mp4"}
+{"uid":"2363975872609221795","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in 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 box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e","video":"12888984194616841822.mp4"}
+{"uid":"9140168540423122894","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup 2- stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cup 2- stack the cup 3- stack the cup 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup 2- stack the cup Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack 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: stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack 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: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e","video":"7880505427607574391.mp4"}
+{"uid":"9853136435862637001","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring some choclates to my desk from the mk. last 20 steps: 1- Place the candy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the candy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you bring some choclates to my desk from the mk. last 20 steps: 1- Place the candy on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you bring some choclates to my desk from the mk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the candy on the table\n\u003c/PRED\u003e","video":"12952087531756714873.mp4"}
+{"uid":"18409920826265971948","text":"\u003ctask:success:discrete:True\u003e\nput packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e","video":"3666606547395247744.mp4"}
+{"uid":"7352278996034667114","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":"6131925409535018005.mp4"}
+{"uid":"7148358203525884938","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: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 coffee packets in the box. last 20 steps: none Q: immediate next step? \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:planning:freeform\u003e\ncurrent goal is: put the coffee 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 coffee packets in the box. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the silver packet in the box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton 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","video":"12607366235878337798.mp4"}
+{"uid":"8210160411917659919","text":"\u003ctask:success:discrete:True\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e","video":"7674073165935072232.mp4"}
+{"uid":"14986595723924854796","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packet in the cotton box 8- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packet in the cotton box 8- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"5495151283059965381.mp4"}
+{"uid":"12795269699295788996","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packet in the cotton box 8- Put the silver packet in 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 coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- place packet in the cotton box 6- place packet in the cotton box 7- place packet in the cotton box 8- Put the silver packet in the box Q: next 5 steps? \u003cPRED\u003eA: 1- 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the silver packet in the box\n\u003c/PRED\u003e","video":"16226587173847201809.mp4"}
+{"uid":"8132611416034797180","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place packet in the cotton box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace packet in the cotton box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10503544664018026847.mp4"}
+{"uid":"5029548600325212175","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup 2- stack the cup 3- stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cup 2- stack the cup 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup 2- stack the cup 3- stack the cup Q: immediate next step? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cup\n\u003c/PRED\u003e","video":"17343858066697566349.mp4"}
+{"uid":"7483276048726063605","text":"\u003ctask:success:discrete:False\u003e\nput packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box 5- 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 packet in box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e","video":"10519352517476706094.mp4"}
+{"uid":"1878999545804325766","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the blue packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17866261257074554748.mp4"}
+{"uid":"5029926589366435106","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup 2- stack the cup 3- stack the cup 4- stack the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Stack the glass 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the mini cups on top of each other. last 20 steps: 1- stack the cup 2- stack the cup 3- stack the cup 4- stack the cup Q: immediate next step? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nStack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10145826596378529854.mp4"}
+{"uid":"4243809733161337042","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the coffee packets in the box. last 20 steps: 1- place packet in the cotton box 2- place packet in the cotton box 3- place packet in the cotton box 4- place packet in the cotton box Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in box 2- place packet in the cotton box 3- place packet in the cotton box 4- Put the silver packet in the box 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput packet in box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the coffee packets in the box Q: immediate next step? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in box\n\u003c/PRED\u003e","video":"1369330092349664468.mp4"}
+{"uid":"12504326975429636710","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove away from 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":"5027600325053715209.mp4"}
+{"uid":"16474039796945270948","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Open the jar lid\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nOpen the jar lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11578454611360557087.mp4"}
+{"uid":"6786940311409939849","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk. last 20 steps: 1- Pick up the bowl 2- Put the spoon in the bowl 3- Put the bowl on the other table 4- Open the jar lid 5- Pick up the scoop 6- Put the beans in the bowl 7- Put the beans in the bowl 8- Put the beans in the bowl 9- Put the scoop in the stand 10- Close the jar lid 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 jar lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk. last 20 steps: 1- Pick up the bowl 2- Put the spoon in the bowl 3- Put the bowl on the other table 4- Open the jar lid 5- Pick up the scoop 6- Put the beans in the bowl 7- Put the beans in the bowl 8- Put the beans in the bowl 9- Put the scoop in the stand 10- Close the jar lid Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the jar lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"16131184704762633380.mp4"}
+{"uid":"11800090005366180529","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: Pick up the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick up the bowl\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\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the bowl 2- Put the spoon in the bowl 3- Put the bowl on the other table 4- Open the jar lid 5- Pick up the scoop\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the bowl\n\u003c/PRED\u003e","video":"13800232365822101783.mp4"}
+{"uid":"8325686164084121386","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the scoop in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the scoop in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the scoop in the stand Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk. last 20 steps: 1- Pick up the bowl 2- Put the spoon in the bowl 3- Put the bowl on the other table 4- Open the jar lid 5- Pick up the scoop 6- Put the beans in the bowl 7- Put the beans in the bowl 8- Put the beans in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the scoop in the stand 2- Close the jar lid 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk. last 20 steps: 1- Pick up the bowl 2- Put the spoon in the bowl 3- Put the bowl on the other table 4- Open the jar lid 5- Pick up the scoop 6- Put the beans in the bowl 7- Put the beans in the bowl 8- Put the beans in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the scoop in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: Put the scoop in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the scoop in the stand\n\u003c/PRED\u003e","video":"2860095737109601857.mp4"}
+{"uid":"17415104276087972278","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk. last 20 steps: 1- open the cupboard doors 2- pick up the sticky notepad 3- Move towards the room 4- Place the sticky notepad on the computer desk 5- Move towards the cupboard 6- Pickup the lead pencil 7- Move towards the room 8- place the lead pencil beside the sticky notepad on the computer desk Q: immediate next step? \u003cPRED\u003eA: move towards the cupboard\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk. last 20 steps: 1- open the cupboard doors 2- pick up the sticky notepad 3- Move towards the room 4- Place the sticky notepad on the computer desk 5- Move towards the cupboard 6- Pickup the lead pencil 7- Move towards the room 8- place the lead pencil beside the sticky notepad on the computer desk Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the cupboard 2- close the cupboard doors. 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move towards the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove towards the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk Q: immediate next step? \u003cPRED\u003eA: move towards the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the cupboard\n\u003c/PRED\u003e","video":"11080240753501535665.mp4"}
+{"uid":"6347044603696088785","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards 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\nMove towards 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: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk Q: immediate next step? \u003cPRED\u003eA: Move towards the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk. last 20 steps: 1- open the cupboard doors 2- pick up the sticky notepad Q: immediate next step? \u003cPRED\u003eA: Move towards the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk. last 20 steps: 1- open the cupboard doors 2- pick up the sticky notepad Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the room 2- Place the sticky notepad on the computer desk 3- Move towards the cupboard 4- Pickup the lead pencil 5- Move towards the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the room\n\u003c/PRED\u003e","video":"3115157170558930139.mp4"}
+{"uid":"12854139831335944578","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk. last 20 steps: 1- Pick up the bowl Q: immediate next step? \u003cPRED\u003eA: Put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the spoon in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk. last 20 steps: 1- Pick up the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the spoon in the bowl 2- Put the bowl on the other table 3- Open the jar lid 4- Pick up the scoop 5- Put the beans in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk Q: immediate next step? \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","video":"6403137242399086583.mp4"}
+{"uid":"18227923251961299734","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the cupboard doors\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the cupboard doors Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3188706734842979185.mp4"}
+{"uid":"14881924006314520181","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntake the marker to 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":"5497819396905059658.mp4"}
+{"uid":"18092528587409250883","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the sticky notepad Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 sticky notepad\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the sticky notepad\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk. last 20 steps: 1- open the cupboard doors Q: immediate next step? \u003cPRED\u003eA: pick up the sticky notepad\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the sticky notepad Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk Q: immediate next step? \u003cPRED\u003eA: pick up the sticky notepad\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk. last 20 steps: 1- open the cupboard doors Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the sticky notepad 2- Move towards the room 3- Place the sticky notepad on the computer desk 4- Move towards the cupboard 5- Pickup the lead pencil\n\u003c/PRED\u003e","video":"3447892776431625490.mp4"}
+{"uid":"11938464207510315470","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the black duster on 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":"15802942888981876295.mp4"}
+{"uid":"3926795351101650242","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I have a meeting with five other team members. Please set a book for each person in the conference room. last 20 steps: 1- place the book on the table 2- place the book on the table 3- place the book on the table Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I have a meeting with five other team members. Please set a book for each person in the conference room. last 20 steps: 1- place the book on the table 2- place the book on the table 3- place the book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the book on the table 2- place the book on the table 3- place the book on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 book on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I have a meeting with five other team members. Please set a book for each person in the conference room. Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e","video":"9148690294911376779.mp4"}
+{"uid":"12778387446523657075","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the jar lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the jar lid\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: Open the jar lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk. last 20 steps: 1- Pick up the bowl 2- Put the spoon in the bowl 3- Put the bowl on the other table Q: immediate next step? \u003cPRED\u003eA: Open the jar lid\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk. last 20 steps: 1- Pick up the bowl 2- Put the spoon in the bowl 3- Put the bowl on the other table Q: next 5 steps? \u003cPRED\u003eA: 1- Open the jar lid 2- Pick up the scoop 3- Put the beans in the bowl 4- Put the beans in the bowl 5- Put the beans in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the jar lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the jar lid\n\u003c/PRED\u003e","video":"10376498959038779901.mp4"}
+{"uid":"16112947940480474497","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1972999309736188987.mp4"}
+{"uid":"8225624396340303701","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":"9280503306490478946.mp4"}
+{"uid":"11242285299213172291","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk. last 20 steps: 1- open the cupboard doors 2- pick up the sticky notepad 3- Move towards the room 4- Place the sticky notepad on the computer desk 5- Move towards the cupboard Q: immediate next step? \u003cPRED\u003eA: Pickup the lead pencil\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk Q: immediate next step? \u003cPRED\u003eA: Pickup the lead pencil\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPickup the lead pencil Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPickup the lead pencil Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 lead pencil\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk. last 20 steps: 1- open the cupboard doors 2- pick up the sticky notepad 3- Move towards the room 4- Place the sticky notepad on the computer desk 5- Move towards the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- Pickup the lead pencil 2- Move towards the room 3- place the lead pencil beside the sticky notepad on the computer desk 4- move towards the cupboard 5- close the cupboard doors.\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pickup the lead pencil\n\u003c/PRED\u003e","video":"11772523411888200518.mp4"}
+{"uid":"2717845216477263963","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the candy 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":"7420238993624754163.mp4"}
+{"uid":"1392000554861978390","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk Q: immediate next step? \u003cPRED\u003eA: Move towards the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards 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 towards the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk. last 20 steps: 1- open the cupboard doors 2- pick up the sticky notepad 3- Move towards the room 4- Place the sticky notepad on the computer desk 5- Move towards the cupboard 6- Pickup the lead pencil Q: immediate next step? \u003cPRED\u003eA: Move towards the room\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards 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: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk. last 20 steps: 1- open the cupboard doors 2- pick up the sticky notepad 3- Move towards the room 4- Place the sticky notepad on the computer desk 5- Move towards the cupboard 6- Pickup the lead pencil Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the room 2- place the lead pencil beside the sticky notepad on the computer desk 3- move towards the cupboard 4- close the cupboard doors. 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the room\n\u003c/PRED\u003e","video":"844635455874184927.mp4"}
+{"uid":"3917533714190237140","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":"10360173475855990096.mp4"}
+{"uid":"4646127599319607778","text":"\u003ctask:success:discrete:True\u003e\nplace the book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 have a meeting with five other team members. Please set a book for each person in the conference room. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I have a meeting with five other team members. Please set a book for each person in the conference room. last 20 steps: 1- place the book on the table 2- place the book on the table 3- place the book on the table 4- place the book on the table 5- place the book on the table 6- place the book on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I have a meeting with five other team members. Please set a book for each person in the conference room. last 20 steps: 1- place the book on the table 2- place the book on the table 3- place the book on the table 4- place the book on the table 5- place the book on the table 6- place the book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"4983689701417240119.mp4"}
+{"uid":"5903908107158762766","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the beans in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the beans 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":"4883991842276425733.mp4"}
+{"uid":"14568470774861028222","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: Put the bowl on the other table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the bowl 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\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the bowl on the other table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk. last 20 steps: 1- Pick up the bowl 2- Put the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the bowl on the other table 2- Open the jar lid 3- Pick up the scoop 4- Put the beans in the bowl 5- Put the beans in the bowl\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk. last 20 steps: 1- Pick up the bowl 2- Put the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the bowl on the other table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the bowl on the other table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the bowl 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","video":"4729170563882900783.mp4"}
+{"uid":"8494056818782698690","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":"15172859526918041303.mp4"}
+{"uid":"12031967836185565545","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":"9333224913348450962.mp4"}
+{"uid":"11065307938092949873","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput tissue paper 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":"683354195503103086.mp4"}
+{"uid":"8371977602767719213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"2260308587670013952.mp4"}
+{"uid":"10063245978961024898","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I have a meeting with five other team members. Please set a book for each person in the conference room. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 book on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I have a meeting with five other team members. Please set a book for each person in the conference room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the book on the table 2- place the book on the table 3- place the book on the table 4- place the book on the table 5- place the book on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I have a meeting with five other team members. Please set a book for each person in the conference room. Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e","video":"28576063548788918.mp4"}
+{"uid":"11461032107374044062","text":"\u003ctask:success:discrete:True\u003e\nMove towards 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the cupboard\n\u003c/PRED\u003e","video":"16059533973663330191.mp4"}
+{"uid":"16744569229291796899","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the bowl 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":"17920760205191761225.mp4"}
+{"uid":"12367343695107925141","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: Put the beans in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the beans 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 beans in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk. last 20 steps: 1- Pick up the bowl 2- Put the spoon in the bowl 3- Put the bowl on the other table 4- Open the jar lid 5- Pick up the scoop 6- Put the beans in the bowl 7- Put the beans in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the beans in the bowl 2- Put the scoop in the stand 3- Close the jar lid 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the beans in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk. last 20 steps: 1- Pick up the bowl 2- Put the spoon in the bowl 3- Put the bowl on the other table 4- Open the jar lid 5- Pick up the scoop 6- Put the beans in the bowl 7- Put the beans in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the beans in the bowl\n\u003c/PRED\u003e","video":"8347488396706967877.mp4"}
+{"uid":"17420247010691609429","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the beans in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the beans 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":"1426802910072948334.mp4"}
+{"uid":"6496713641664470680","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":"9067979104073857766.mp4"}
+{"uid":"12111901678002276109","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk. last 20 steps: 1- Pick up the bowl 2- Put the spoon in the bowl 3- Put the bowl on the other table 4- Open the jar lid 5- Pick up the scoop Q: immediate next step? \u003cPRED\u003eA: Put the beans in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the beans in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the beans 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 beans in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the beans 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: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk. last 20 steps: 1- Pick up the bowl 2- Put the spoon in the bowl 3- Put the bowl on the other table 4- Open the jar lid 5- Pick up the scoop Q: next 5 steps? \u003cPRED\u003eA: 1- Put the beans in the bowl 2- Put the beans in the bowl 3- Put the beans in the bowl 4- Put the scoop in the stand 5- Close the jar lid\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: Put the beans in the bowl\n\u003c/PRED\u003e","video":"1753295175374493383.mp4"}
+{"uid":"12417726498359316227","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the cupboard doors.\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk. last 20 steps: 1- open the cupboard doors 2- pick up the sticky notepad 3- Move towards the room 4- Place the sticky notepad on the computer desk 5- Move towards the cupboard 6- Pickup the lead pencil 7- Move towards the room 8- place the lead pencil beside the sticky notepad on the computer desk 9- move towards the cupboard Q: next 5 steps? \u003cPRED\u003eA: 1- close the cupboard doors. 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk. last 20 steps: 1- open the cupboard doors 2- pick up the sticky notepad 3- Move towards the room 4- Place the sticky notepad on the computer desk 5- Move towards the cupboard 6- Pickup the lead pencil 7- Move towards the room 8- place the lead pencil beside the sticky notepad on the computer desk 9- move towards the cupboard Q: immediate next step? \u003cPRED\u003eA: close the cupboard doors.\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the cupboard doors. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 cupboard doors. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 cupboard doors.\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk Q: immediate next step? \u003cPRED\u003eA: close the cupboard doors.\n\u003c/PRED\u003e","video":"13923749077080339383.mp4"}
+{"uid":"6581764064616710881","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":"16061095186409985027.mp4"}
+{"uid":"1572402408124405312","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3333796312247357103.mp4"}
+{"uid":"11346009617736983742","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up 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":"5661857746608703601.mp4"}
+{"uid":"4472103363036467986","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":"3153693268451819010.mp4"}
+{"uid":"6738184304817877595","text":"\u003ctask:success:discrete:True\u003e\nplace the book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 book on the table\n\u003c/PRED\u003e","video":"14040563223630221947.mp4"}
+{"uid":"3682190488136466525","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the scoop\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the scoop\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the scoop Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk. last 20 steps: 1- Pick up the bowl 2- Put the spoon in the bowl 3- Put the bowl on the other table 4- Open the jar lid Q: immediate next step? \u003cPRED\u003eA: Pick up the scoop\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk. last 20 steps: 1- Pick up the bowl 2- Put the spoon in the bowl 3- Put the bowl on the other table 4- Open the jar lid Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the scoop 2- Put the beans in the bowl 3- Put the beans in the bowl 4- Put the beans in the bowl 5- Put the scoop in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: Pick up the scoop\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the scoop Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10718692981425227210.mp4"}
+{"uid":"7336345815680765626","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the beans in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the beans 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":"10185513762772067185.mp4"}
+{"uid":"11009420188692531323","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":"10347900863161841727.mp4"}
+{"uid":"17442718575470593821","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":"5815573264070307749.mp4"}
+{"uid":"12528559401783109093","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the jar lid\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the jar lid\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk. last 20 steps: 1- Pick up the bowl 2- Put the spoon in the bowl 3- Put the bowl on the other table 4- Open the jar lid 5- Pick up the scoop 6- Put the beans in the bowl 7- Put the beans in the bowl 8- Put the beans in the bowl 9- Put the scoop in the stand Q: immediate next step? \u003cPRED\u003eA: Close the jar lid\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the jar lid Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: Close the jar lid\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the jar lid Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk. last 20 steps: 1- Pick up the bowl 2- Put the spoon in the bowl 3- Put the bowl on the other table 4- Open the jar lid 5- Pick up the scoop 6- Put the beans in the bowl 7- Put the beans in the bowl 8- Put the beans in the bowl 9- Put the scoop in the stand Q: next 5 steps? \u003cPRED\u003eA: 1- Close the jar lid 2- done\n\u003c/PRED\u003e","video":"11338530838560869643.mp4"}
+{"uid":"9003904967440154003","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I have a meeting with five other team members. Please set a book for each person in the conference room. last 20 steps: 1- place the book on the table 2- place the book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the book on the table 2- place the book on the table 3- place the book on the table 4- place the book on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 book on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I have a meeting with five other team members. Please set a book for each person in the conference room. Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I have a meeting with five other team members. Please set a book for each person in the conference room. last 20 steps: 1- place the book on the table 2- place the book on the table Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1265198928473965553.mp4"}
+{"uid":"3852019490307228911","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk. last 20 steps: 1- Pick up the bowl 2- Put the spoon in the bowl 3- Put the bowl on the other table 4- Open the jar lid 5- Pick up the scoop 6- Put the beans in the bowl Q: immediate next step? \u003cPRED\u003eA: Put the beans in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk Q: immediate next step? \u003cPRED\u003eA: Put the beans in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the beans in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the beans in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you throw the bottle from my desk and I am hungry can you bring me a popcorn from MK kitchen in a bowl with a spoon and bring it to my desk. last 20 steps: 1- Pick up the bowl 2- Put the spoon in the bowl 3- Put the bowl on the other table 4- Open the jar lid 5- Pick up the scoop 6- Put the beans in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put the beans in the bowl 2- Put the beans in the bowl 3- Put the scoop in the stand 4- Close the jar lid 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the beans 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":"2932468878735702074.mp4"}
+{"uid":"11419969110652450295","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the pen into the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8093649986709971755.mp4"}
+{"uid":"2475864751708568723","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10157266919503708029.mp4"}
+{"uid":"16116698144743197563","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":"7839414615561315542.mp4"}
+{"uid":"17935682613541667775","text":"\u003ctask:success:discrete:True\u003e\nplace the lead pencil beside the sticky notepad on the computer desk Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the lead pencil beside the sticky notepad on the computer desk\n\u003c/PRED\u003e","video":"12698798346507365479.mp4"}
+{"uid":"5222046126724285592","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I have a meeting with five other team members. Please set a book for each person in the conference room. last 20 steps: 1- place the book on the table 2- place the book on the table 3- place the book on the table 4- place the book on the table Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 have a meeting with five other team members. Please set a book for each person in the conference room. Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I have a meeting with five other team members. Please set a book for each person in the conference room. last 20 steps: 1- place the book on the table 2- place the book on the table 3- place the book on the table 4- place the book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the book on the table 2- place the book 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 book on the table\n\u003c/PRED\u003e","video":"3626053574678029003.mp4"}
+{"uid":"8829637532199449118","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":"203571131303086271.mp4"}
+{"uid":"16921746498798233641","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move towards the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove towards 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":"14101894635630796096.mp4"}
+{"uid":"6151646603698773264","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk Q: immediate next step? \u003cPRED\u003eA: Move towards the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the cupboard\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the cupboard\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk. last 20 steps: 1- open the cupboard doors 2- pick up the sticky notepad 3- Move towards the room 4- Place the sticky notepad on the computer desk Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the cupboard 2- Pickup the lead pencil 3- Move towards the room 4- place the lead pencil beside the sticky notepad on the computer desk 5- move towards the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk. last 20 steps: 1- open the cupboard doors 2- pick up the sticky notepad 3- Move towards the room 4- Place the sticky notepad on the computer desk Q: immediate next step? \u003cPRED\u003eA: Move towards the cupboard\n\u003c/PRED\u003e","video":"12514149565483509523.mp4"}
+{"uid":"6944482611693675529","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":"4128486361651772946.mp4"}
+{"uid":"16343240956448493332","text":"\u003ctask:success:discrete:True\u003e\nPut the bowl 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the bowl on the other table\n\u003c/PRED\u003e","video":"5423678233913512435.mp4"}
+{"uid":"17479816717040364479","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the cupboard doors.\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk. last 20 steps: 1- open the cupboard doors 2- pick up the sticky notepad 3- Move towards the room 4- Place the sticky notepad on the computer desk 5- Move towards the cupboard 6- Pickup the lead pencil 7- Move towards the room 8- place the lead pencil beside the sticky notepad on the computer desk 9- move towards the cupboard 10- close the cupboard doors. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk. last 20 steps: 1- open the cupboard doors 2- pick up the sticky notepad 3- Move towards the room 4- Place the sticky notepad on the computer desk 5- Move towards the cupboard 6- Pickup the lead pencil 7- Move towards the room 8- place the lead pencil beside the sticky notepad on the computer desk 9- move towards the cupboard 10- close the cupboard doors. Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the cupboard doors. Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17699540237417938326.mp4"}
+{"uid":"7051316108962787928","text":"\u003ctask:success:discrete:True\u003e\nplace the book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 book on the table\n\u003c/PRED\u003e","video":"791201246650609253.mp4"}
+{"uid":"8194750655975048557","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk Q: immediate next step? \u003cPRED\u003eA: Place the sticky notepad on the computer desk\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the sticky notepad on the computer desk Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the sticky notepad on the computer desk\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk. last 20 steps: 1- open the cupboard doors 2- pick up the sticky notepad 3- Move towards the room Q: immediate next step? \u003cPRED\u003eA: Place the sticky notepad on the computer desk\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the sticky notepad on the computer desk\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the sticky notepad on the computer desk Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk. last 20 steps: 1- open the cupboard doors 2- pick up the sticky notepad 3- Move towards the room Q: next 5 steps? \u003cPRED\u003eA: 1- Place the sticky notepad on the computer desk 2- Move towards the cupboard 3- Pickup the lead pencil 4- Move towards the room 5- place the lead pencil beside the sticky notepad on the computer desk\n\u003c/PRED\u003e","video":"2105165111161260892.mp4"}
+{"uid":"1200204774867897287","text":"\u003ctask:success:discrete:False\u003e\nplace the book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 have a meeting with five other team members. Please set a book for each person in the conference room. last 20 steps: 1- place the book on the table 2- place the book on the table 3- place the book on the table 4- place the book on the table 5- place the book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the book 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 book on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I have a meeting with five other team members. Please set a book for each person in the conference room. last 20 steps: 1- place the book on the table 2- place the book on the table 3- place the book on the table 4- place the book on the table 5- place the book on the table Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I have a meeting with five other team members. Please set a book for each person in the conference room. Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9772543849629412712.mp4"}
+{"uid":"15373455121845264133","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the biscuit packet in the small 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":"2201118215898864298.mp4"}
+{"uid":"7954978290079737490","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red snack 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":"17455977458168961231.mp4"}
+{"uid":"2769706877280375404","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pickup the lead pencil\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPickup the lead pencil Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9125107223340688595.mp4"}
+{"uid":"10588499422086425444","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":"13924829034846673258.mp4"}
+{"uid":"8999759402649910257","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove stand 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":"7729987821866103494.mp4"}
+{"uid":"10092325141996642693","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the cupboard doors\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the cupboard doors\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk Q: immediate next step? \u003cPRED\u003eA: open the cupboard doors\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the cupboard doors\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the cupboard doors Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the cupboard doors 2- pick up the sticky notepad 3- Move towards the room 4- Place the sticky notepad on the computer desk 5- Move towards the cupboard\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the cupboard doors Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1172950410095566107.mp4"}
+{"uid":"1007938839671131819","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I have a meeting with five other team members. Please set a book for each person in the conference room. last 20 steps: 1- place the book on the table Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I have a meeting with five other team members. Please set a book for each person in the conference room. Q: immediate next step? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I have a meeting with five other team members. Please set a book for each person in the conference room. last 20 steps: 1- place the book on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the book on the table 2- place the book on the table 3- place the book on the table 4- place the book on the table 5- place the book on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the book on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the book on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 book on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7388876542674960646.mp4"}
+{"uid":"10233808181178620140","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16634841205588513162.mp4"}
+{"uid":"10855581934824408577","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":"12190972063656236199.mp4"}
+{"uid":"10527330470342856477","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk. last 20 steps: 1- open the cupboard doors 2- pick up the sticky notepad 3- Move towards the room 4- Place the sticky notepad on the computer desk 5- Move towards the cupboard 6- Pickup the lead pencil 7- Move towards the room Q: next 5 steps? \u003cPRED\u003eA: 1- place the lead pencil beside the sticky notepad on the computer desk 2- move towards the cupboard 3- close the cupboard doors. 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the lead pencil beside the sticky notepad on the computer desk Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk. last 20 steps: 1- open the cupboard doors 2- pick up the sticky notepad 3- Move towards the room 4- Place the sticky notepad on the computer desk 5- Move towards the cupboard 6- Pickup the lead pencil 7- Move towards the room Q: immediate next step? \u003cPRED\u003eA: place the lead pencil beside the sticky notepad on the computer desk\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the lead pencil beside the sticky notepad on the computer desk Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the lead pencil beside the sticky notepad on the computer desk\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the lead pencil beside the sticky notepad on the computer desk\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Jornell needs a sticky note and something to write with, go to the supply cabinet and take sticky notes and a pencil to his desk Q: immediate next step? \u003cPRED\u003eA: place the lead pencil beside the sticky notepad on the computer desk\n\u003c/PRED\u003e","video":"10706422776237014435.mp4"}
+{"uid":"1112584083994279377","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the box in the sink\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink. last 20 steps: 1- pick up the water bottle 2- place the water bottle in the sink 3- pick up the box 4- place the box in the sink Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the box in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink. last 20 steps: 1- pick up the water bottle 2- place the water bottle in the sink 3- pick up the box 4- place the box in the sink Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"13336411498452866124.mp4"}
+{"uid":"10743890745302089022","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup? Q: immediate next step? \u003cPRED\u003eA: Place two spoons in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace two spoons in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place two spoons in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place two spoons in the glass 2- Put an spoon in the glass 3- put two spoons in the glass 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place two spoons in the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place two spoons in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace two spoons in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6428884309418578061.mp4"}
+{"uid":"6040889607595462252","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":"11185590762026460953.mp4"}
+{"uid":"4282965373619545722","text":"\u003ctask:success:discrete:True\u003e\nPut an spoon in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup?. last 20 steps: 1- Put an spoon in the glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put an spoon in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup?. last 20 steps: 1- Put an spoon in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"12751693716937395268.mp4"}
+{"uid":"11405523748280966953","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sugar packet 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":"5741588309422381841.mp4"}
+{"uid":"10256646873113780290","text":"\u003ctask:success:discrete:True\u003e\nput 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: put redbull can in the tray\n\u003c/PRED\u003e","video":"12347675714751689776.mp4"}
+{"uid":"15145684927427340869","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup?. last 20 steps: 1- put two spoons into the stand 2- Put an spoon in the glass Q: immediate next step? \u003cPRED\u003eA: place spoons in  black glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup?. last 20 steps: 1- put two spoons into the stand 2- Put an spoon in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place spoons in  black glass 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup? Q: immediate next step? \u003cPRED\u003eA: place spoons in  black glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace spoons in  black glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoons in  black glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoons in  black glass\n\u003c/PRED\u003e","video":"16214819321372114312.mp4"}
+{"uid":"5106355792003553939","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":"3877151153377795448.mp4"}
+{"uid":"5910347884414433068","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- put red coke can in the tray 2- put diet coke can in the tray 3- put 7up can in the tray 4- put yellow can in the tray 5- put redbull can in the tray 6- put pepsi can in the tray 7- put green can in the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput green 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:planning:freeform\u003e\ncurrent goal is: Please place the cans into 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 green 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- put red coke can in the tray 2- put diet coke can in the tray 3- put 7up can in the tray 4- put yellow can in the tray 5- put redbull can in the tray 6- put pepsi can in the tray 7- put green can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"9646821596935503354.mp4"}
+{"uid":"10948630058325224137","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":"16583728451732726305.mp4"}
+{"uid":"5329931695340825707","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place spoons in black glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace spoons in black 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":"1521265670157787553.mp4"}
+{"uid":"13711187674841935211","text":"\u003ctask:success:discrete:True\u003e\nplace a spoon into the spoon 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 a spoon into the spoon stand\n\u003c/PRED\u003e","video":"1391579382459242275.mp4"}
+{"uid":"8920041983411655962","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place two spoons in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace two spoons in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6431587428430879784.mp4"}
+{"uid":"10929207818610427448","text":"\u003ctask:success:discrete:False\u003e\nplace the box in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the box in the sink\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink. last 20 steps: 1- pick up the water bottle 2- place the water bottle in the sink 3- pick up the box Q: immediate next step? \u003cPRED\u003eA: place the box in the sink\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the box in the sink Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink. last 20 steps: 1- pick up the water bottle 2- place the water bottle in the sink 3- pick up the box Q: next 5 steps? \u003cPRED\u003eA: 1- place the box in the sink 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink Q: immediate next step? \u003cPRED\u003eA: place the box in the sink\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the box in the sink\n\u003c/PRED\u003e","video":"8101482366885910294.mp4"}
+{"uid":"5934451112734868825","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the 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":"12429790902060092062.mp4"}
+{"uid":"17882093940087393054","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- put red coke can in the tray 2- put diet coke can in the tray Q: immediate next step? \u003cPRED\u003eA: put 7up can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 7up 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 place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: put 7up 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- put red coke can in the tray 2- put diet coke can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put 7up can in the tray 2- put yellow can in the tray 3- put redbull can in the tray 4- put pepsi can in the tray 5- put green can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 7up can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put 7up can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 7up can in the tray\n\u003c/PRED\u003e","video":"12473552304174480643.mp4"}
+{"uid":"16648932688709066696","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put diet coke 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- put red coke can in the tray Q: immediate next step? \u003cPRED\u003eA: put diet coke can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput diet coke 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 place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: put diet coke can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput diet coke 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 diet coke 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- put red coke can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put diet coke can in the tray 2- put 7up can in the tray 3- put yellow can in the tray 4- put redbull can in the tray 5- put pepsi can in the tray\n\u003c/PRED\u003e","video":"17958067277306521800.mp4"}
+{"uid":"12592468061592069146","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- put red coke can in the tray 2- put diet coke can in the tray 3- put 7up can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put yellow can in the tray 2- put redbull can in the tray 3- put pepsi can in the tray 4- put green can in the tray 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put yellow 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- put red coke can in the tray 2- put diet coke can in the tray 3- put 7up can in the tray Q: immediate next step? \u003cPRED\u003eA: put yellow can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put yellow 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: put yellow can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput yellow can in the tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput yellow 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":"17423024994823945039.mp4"}
+{"uid":"12594462255623109511","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":"370270098863651463.mp4"}
+{"uid":"12109445311114993650","text":"\u003ctask:success:discrete:False\u003e\nplace a spoon into the spoon 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: i dropped the spoons. can you put them back in the cup?. last 20 steps: 1- put two spoons into the stand Q: immediate next step? \u003cPRED\u003eA: place a spoon into the spoon stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace a spoon into the spoon 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: i dropped the spoons. can you put them back in the cup?. last 20 steps: 1- put two spoons into the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place a spoon into the spoon stand 2- put two spoons in the glass 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place a spoon into the spoon stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup? Q: immediate next step? \u003cPRED\u003eA: place a spoon into the spoon stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place a spoon into the spoon stand\n\u003c/PRED\u003e","video":"10326393997791860033.mp4"}
+{"uid":"17777764550496301427","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3362636099918746578.mp4"}
+{"uid":"3670316689062204232","text":"\u003ctask:success:discrete:True\u003e\nput diet coke 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 diet coke can in the tray\n\u003c/PRED\u003e","video":"13417696350737488565.mp4"}
+{"uid":"10739653862465413556","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the water bottle in the sink\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the water bottle in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"321492794637533430.mp4"}
+{"uid":"16490331428370400579","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput can on 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":"3006520175256739746.mp4"}
+{"uid":"2019714010465426524","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":"7460208881253002985.mp4"}
+{"uid":"786771821833407038","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink. last 20 steps: 1- pick up the water bottle 2- place the water bottle in the sink Q: immediate next step? \u003cPRED\u003eA: pick up the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink. last 20 steps: 1- pick up the water bottle 2- place the water bottle in the sink Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the box 2- place the box in the sink 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink Q: immediate next step? \u003cPRED\u003eA: pick up the box\n\u003c/PRED\u003e","video":"7156431303353553888.mp4"}
+{"uid":"73299116196095523","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the cans into the tray. last 20 steps: 1- put red coke can in the tray 2- put diet coke can in the tray 3- put 7up can in the tray 4- put yellow can in the tray 5- put redbull can in the tray Q: immediate next step? \u003cPRED\u003eA: put pepsi 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: put pepsi 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- put red coke can in the tray 2- put diet coke can in the tray 3- put 7up can in the tray 4- put yellow can in the tray 5- put redbull can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put pepsi can in the tray 2- put green can in the tray 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput pepsi 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 pepsi can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput pepsi can in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put pepsi can in the tray\n\u003c/PRED\u003e","video":"10833631861266244818.mp4"}
+{"uid":"13933335495523647787","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"10913918983024805533.mp4"}
+{"uid":"3436406729122776932","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the cans into the tray Q: immediate next step? \u003cPRED\u003eA: put green can in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green 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- put red coke can in the tray 2- put diet coke can in the tray 3- put 7up can in the tray 4- put yellow can in the tray 5- put redbull can in the tray 6- put pepsi can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put green 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: put green can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput green 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 place the cans into the tray. last 20 steps: 1- put red coke can in the tray 2- put diet coke can in the tray 3- put 7up can in the tray 4- put yellow can in the tray 5- put redbull can in the tray 6- put pepsi can in the tray Q: immediate next step? \u003cPRED\u003eA: put green can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput green 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":"13823527107329805147.mp4"}
+{"uid":"4058027267985056015","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the white 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":"2391840337617435774.mp4"}
+{"uid":"5731001982891733509","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the water bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink Q: immediate next step? \u003cPRED\u003eA: pick up the water bottle\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the water bottle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the water bottle 2- place the water bottle in the sink 3- pick up the box 4- place the box in the sink 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the water bottle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the water bottle\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the water bottle\n\u003c/PRED\u003e","video":"14555415021174325009.mp4"}
+{"uid":"6499492130032029482","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put two spoons in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup?. last 20 steps: 1- put two spoons into the stand Q: next 5 steps? \u003cPRED\u003eA: 1- put two spoons in the glass 2- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place spoons in  black glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup? Q: immediate next step? \u003cPRED\u003eA: put two spoons in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put two spoons in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput two spoons in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup?. last 20 steps: 1- put two spoons into the stand Q: immediate next step? \u003cPRED\u003eA: put two spoons in the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace spoons in  black 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:affordance:discriminative:discrete:True\u003e\nput two spoons in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1215878183882301993.mp4"}
+{"uid":"16688343149440072145","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the scissors packet in the cupboard Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1962256583987567800.mp4"}
+{"uid":"14848634280051976276","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the brown packet in basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14319796692514273367.mp4"}
+{"uid":"4552600009240452370","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup?. last 20 steps: 1- put two spoons into the stand 2- Put an spoon in the glass Q: immediate next step? \u003cPRED\u003eA: put two spoons into the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put two spoons into the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup?. last 20 steps: 1- put two spoons into the stand 2- Put an spoon in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put two spoons into the stand 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput two spoons into 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 two spoons into the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup? Q: immediate next step? \u003cPRED\u003eA: put two spoons into the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput two spoons into 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":"4593692947327808452.mp4"}
+{"uid":"6689382426112559613","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the glass 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":"10987237328164109210.mp4"}
+{"uid":"2568825666022830575","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put two spoons in the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup?. last 20 steps: 1- put two spoons into the stand 2- put two spoons in the glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup?. last 20 steps: 1- put two spoons into the stand 2- put two spoons in the glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput two spoons in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16490106652802845760.mp4"}
+{"uid":"16102611677838002622","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put redbull 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- put red coke can in the tray 2- put diet coke can in the tray 3- put 7up can in the tray 4- put yellow can in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put redbull can in the tray 2- put pepsi can in the tray 3- put green can in the tray 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put redbull 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: put redbull 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- put red coke can in the tray 2- put diet coke can in the tray 3- put 7up can in the tray 4- put yellow can in the tray Q: immediate next step? \u003cPRED\u003eA: put redbull can in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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":"4668513624260448296.mp4"}
+{"uid":"1311915241241171458","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the hint bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11551774660248535623.mp4"}
+{"uid":"17605345121678382687","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put two spoons into the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput two spoons into 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup?. last 20 steps: 1- put two spoons into the stand 2- Put an spoon in the glass 3- put two spoons into the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup?. last 20 steps: 1- put two spoons into the stand 2- Put an spoon in the glass 3- put two spoons into the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"1369822167969958373.mp4"}
+{"uid":"16563482313498377703","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace spoons in  black 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: i dropped the spoons. can you put them back in the cup?. last 20 steps: 1- put two spoons into the stand Q: next 5 steps? \u003cPRED\u003eA: 1- place spoons in  black glass 2- put two spoons in the glass 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup? Q: immediate next step? \u003cPRED\u003eA: place spoons in  black glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoons in  black glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoons in  black glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace spoons in  black glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup?. last 20 steps: 1- put two spoons into the stand Q: immediate next step? \u003cPRED\u003eA: place spoons in  black glass\n\u003c/PRED\u003e","video":"11561254940412852267.mp4"}
+{"uid":"17474720123288238844","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place spoons in  black glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace spoons in  black 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: i dropped the spoons. can you put them back in the cup?. last 20 steps: 1- put two spoons into the stand 2- Put an spoon in the glass 3- place spoons in  black glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup?. last 20 steps: 1- put two spoons into the stand 2- Put an spoon in the glass 3- place spoons in  black glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"4909488626493901788.mp4"}
+{"uid":"5334089384652659909","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the water bottle in the sink Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the water bottle in the sink Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink. last 20 steps: 1- pick up the water bottle Q: next 5 steps? \u003cPRED\u003eA: 1- place the water bottle in the sink 2- pick up the box 3- place the box in the sink 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the water bottle in the sink\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the water bottle in the sink\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink. last 20 steps: 1- pick up the water bottle Q: immediate next step? \u003cPRED\u003eA: place the water bottle in the sink\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Get my water bottle and empty tupperware from my desk and place it in the sink Q: immediate next step? \u003cPRED\u003eA: place the water bottle in the sink\n\u003c/PRED\u003e","video":"369796169825550942.mp4"}
+{"uid":"8294746472840458466","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sugar 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":"10289734653677329604.mp4"}
+{"uid":"7927676740025485949","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put pepsi can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput pepsi 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":"15155881310337309489.mp4"}
+{"uid":"5641334916507032444","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bowl under the cereal 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":"4180768738852286757.mp4"}
+{"uid":"919131515160983742","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put two spoons into the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput two spoons into 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":"4386477785901689211.mp4"}
+{"uid":"6837576656817568764","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":"11684700929590837772.mp4"}
+{"uid":"14901446657561527537","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put 7up can in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 7up 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":"1243492191533476515.mp4"}
+{"uid":"2250598490973634567","text":"\u003ctask:success:discrete:True\u003e\nput yellow 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 yellow can in the tray\n\u003c/PRED\u003e","video":"10120123695443745845.mp4"}
+{"uid":"17455078079628990164","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8423549172186254415.mp4"}
+{"uid":"16080182246488336193","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":"5213127929674501976.mp4"}
+{"uid":"3108238347557053363","text":"\u003ctask:success:discrete:False\u003e\nPut an spoon in the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put an spoon in the glass 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup? Q: immediate next step? \u003cPRED\u003eA: Put an spoon in the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: i dropped the spoons. can you put them back in the cup?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put an spoon in the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put an spoon in the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut an spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put an spoon in the glass\n\u003c/PRED\u003e","video":"18264930833763009744.mp4"}
+{"uid":"8570504338257589379","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":"17795719922162615788.mp4"}
+{"uid":"5999427515913779319","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the yellow box into 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":"2156131646393252220.mp4"}
+{"uid":"5339698552943773867","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table. last 20 steps: 1- place the toy on the table 2- place the toy on the table 3- place the toy on the table 4- place the toy on the table 5- place the toy on the table 6- place the toy on the table Q: immediate next step? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 toy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table Q: immediate next step? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table. last 20 steps: 1- place the toy on the table 2- place the toy on the table 3- place the toy on the table 4- place the toy on the table 5- place the toy on the table 6- place the toy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy on the table 2- place the toy on the table 3- place the toy on the table 4- place the toy on the table 5- done\n\u003c/PRED\u003e","video":"8610605241746832636.mp4"}
+{"uid":"7502066153626352400","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table. last 20 steps: 1- place the toy on the table 2- place the toy on the table 3- place the toy on the table 4- place the toy on the table 5- place the toy on the table 6- place the toy on the table 7- place the toy on the table 8- place the toy on the table 9- place the toy on the table Q: immediate next step? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table. last 20 steps: 1- place the toy on the table 2- place the toy on the table 3- place the toy on the table 4- place the toy on the table 5- place the toy on the table 6- place the toy on the table 7- place the toy on the table 8- place the toy on the table 9- place the toy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy 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 toy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table Q: immediate next step? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15392146911041966342.mp4"}
+{"uid":"1202403073137042050","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to the brown object on the sofa Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15548766349110419827.mp4"}
+{"uid":"7552015513917680261","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table. last 20 steps: 1- place the toy on the table 2- place the toy on the table 3- place the toy on the table 4- place the toy on the table 5- place the toy on the table 6- place the toy on the table 7- place the toy on the table 8- place the toy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy on the table 2- place the toy on the table 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table. last 20 steps: 1- place the toy on the table 2- place the toy on the table 3- place the toy on the table 4- place the toy on the table 5- place the toy on the table 6- place the toy on the table 7- place the toy on the table 8- place the toy on the table Q: immediate next step? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table Q: immediate next step? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 toy on the table\n\u003c/PRED\u003e","video":"9264198995073812971.mp4"}
+{"uid":"18277031650241146045","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table Q: immediate next step? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the toy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 take all the toys out of the basket and place it on the table. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 toy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy on the table 2- place the toy on the table 3- place the toy on the table 4- place the toy on the table 5- place the toy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e","video":"6050308541742047204.mp4"}
+{"uid":"17954786648994237399","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table Q: immediate next step? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table. last 20 steps: 1- place the toy on the table 2- place the toy on the table 3- place the toy on the table 4- place the toy on the table 5- place the toy on the table Q: immediate next step? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table. last 20 steps: 1- place the toy on the table 2- place the toy on the table 3- place the toy on the table 4- place the toy on the table 5- place the toy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy on the table 2- place the toy on the table 3- place the toy on the table 4- place the toy on the table 5- place the toy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 toy on the table\n\u003c/PRED\u003e","video":"1844964016215830599.mp4"}
+{"uid":"16718750934840547193","text":"\u003ctask:success:discrete:True\u003e\nplace the toy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 toy on the table\n\u003c/PRED\u003e","video":"7019723249775884163.mp4"}
+{"uid":"17532152088992323803","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":"7813758586259406504.mp4"}
+{"uid":"10256590071695830775","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 toy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table. last 20 steps: 1- place the toy on the table Q: immediate next step? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table Q: immediate next step? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table. last 20 steps: 1- place the toy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy on the table 2- place the toy on the table 3- place the toy on the table 4- place the toy on the table 5- place the toy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e","video":"16680301117024157935.mp4"}
+{"uid":"4971596890237878788","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput paper clip in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18285253557744048660.mp4"}
+{"uid":"578398179330894781","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the yellow 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":"2926072845541390354.mp4"}
+{"uid":"15277205107135105783","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the toy on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12754356290245293587.mp4"}
+{"uid":"3119623242717607181","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table Q: immediate next step? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 toy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table. last 20 steps: 1- place the toy on the table 2- place the toy on the table 3- place the toy on the table 4- place the toy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy on the table 2- place the toy on the table 3- place the toy on the table 4- place the toy on the table 5- place the toy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table. last 20 steps: 1- place the toy on the table 2- place the toy on the table 3- place the toy on the table 4- place the toy on the table Q: immediate next step? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e","video":"16981842090161635558.mp4"}
+{"uid":"8456319713887338503","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5950388796358258007.mp4"}
+{"uid":"4664501799373605806","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red 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":"6044846567270261096.mp4"}
+{"uid":"6409380838523846089","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the orange 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":"1356562658465346380.mp4"}
+{"uid":"2126656148445040588","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table. last 20 steps: 1- place the toy on the table 2- place the toy on the table 3- place the toy on the table Q: immediate next step? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table Q: immediate next step? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 take all the toys out of the basket and place it on the table. last 20 steps: 1- place the toy on the table 2- place the toy on the table 3- place the toy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy on the table 2- place the toy on the table 3- place the toy on the table 4- place the toy on the table 5- place the toy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e","video":"5324640428753764970.mp4"}
+{"uid":"3030071082748798877","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 take all the toys out of the basket and place it on the table. last 20 steps: 1- place the toy on the table 2- place the toy on the table Q: immediate next step? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table. last 20 steps: 1- place the toy on the table 2- place the toy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy on the table 2- place the toy on the table 3- place the toy on the table 4- place the toy on the table 5- place the toy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table Q: immediate next step? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e","video":"2861461727095491995.mp4"}
+{"uid":"11637278021169105062","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the toy on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 take all the toys out of the basket and place it on the table. last 20 steps: 1- place the toy on the table 2- place the toy on the table 3- place the toy on the table 4- place the toy on the table 5- place the toy on the table 6- place the toy on the table 7- place the toy on the table Q: immediate next step? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table Q: immediate next step? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the toy on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: can you please take all the toys out of the basket and place it on the table. last 20 steps: 1- place the toy on the table 2- place the toy on the table 3- place the toy on the table 4- place the toy on the table 5- place the toy on the table 6- place the toy on the table 7- place the toy on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the toy on the table 2- place the toy on the table 3- place the toy on the table 4- done\n\u003c/PRED\u003e","video":"9649584207331971372.mp4"}
+{"uid":"3357594684078599897","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":"17659016984833046035.mp4"}
+{"uid":"14083042857002533862","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the snack in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the snack in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the snack 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 snack 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: Bring some apple pie from the MK to RC5. last 20 steps: 1- open the door 2- close the door 3- place the bowl upright on the table Q: immediate next step? \u003cPRED\u003eA: place the snack in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Bring some apple pie from the MK to RC5. last 20 steps: 1- open the door 2- close the door 3- place the bowl upright on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the snack in the bowl 2- place the snack in the bowl 3- place the fork in the tray 4- place the fork in the bowl 5- pick up the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring some apple pie from the MK to RC5. Q: immediate next step? \u003cPRED\u003eA: place the snack in the bowl\n\u003c/PRED\u003e","video":"5650637712672510930.mp4"}
+{"uid":"16097725174427770665","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a bowl of cheerios and grab me a spoon Q: immediate next step? \u003cPRED\u003eA: place the bowl on the dispenser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cheerios and grab me a spoon. last 20 steps: 1- place the bowl upright on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl on the dispenser 2- fill the cereals in the bowl 3- place the bowl on the table 4- place the spoon in the bowl 5- place the bowl to the backward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl on the dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cheerios and grab me a spoon. last 20 steps: 1- place the bowl upright on the table Q: immediate next step? \u003cPRED\u003eA: place the bowl on the dispenser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl on the dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl on the dispenser\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl on the dispenser\n\u003c/PRED\u003e","video":"14298110860291592832.mp4"}
+{"uid":"3361939371358391666","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl to the 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: place the bowl to the backward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cheerios and grab me a spoon. last 20 steps: 1- place the bowl upright on the table 2- place the bowl on the dispenser 3- fill the cereals in the bowl 4- place the bowl on the table 5- place the spoon in the bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl to the backward\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl to the backward\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cheerios and grab me a spoon. last 20 steps: 1- place the bowl upright on the table 2- place the bowl on the dispenser 3- fill the cereals in the bowl 4- place the bowl on the table 5- place the spoon in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl to the backward 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl to the 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: please make me a bowl of cheerios and grab me a spoon Q: immediate next step? \u003cPRED\u003eA: place the bowl to the backward\n\u003c/PRED\u003e","video":"18303918110921855917.mp4"}
+{"uid":"15009587615646018998","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl under the cereal dispenser\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the cereal into a bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the bowl under the cereal dispenser\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the cereal into a bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl under the cereal dispenser 2- Put the cereal in the bowl 3- place the bowl 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 bowl under the cereal dispenser\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour the cereal into a bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl under the cereal dispenser\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl under the cereal dispenser Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl under the cereal dispenser Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14022784759445950710.mp4"}
+{"uid":"10459784988506729638","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note on 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":"9959524822007741413.mp4"}
+{"uid":"6941254863774251272","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"1959031077419444715.mp4"}
+{"uid":"9968140033607410118","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bowl upright on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the bowl upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12595608888373057276.mp4"}
+{"uid":"14382922975842016712","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: fill the cereals in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nfill the cereals 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":"4597832319581525061.mp4"}
+{"uid":"8921153808265948174","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the hint bottle on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7073444781952447637.mp4"}
+{"uid":"278700473131392135","text":"\u003ctask:success:discrete:True\u003e\nput packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the basket\n\u003c/PRED\u003e","video":"11923154370236997643.mp4"}
+{"uid":"10392445148439503959","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the snack in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the snack 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":"1278608712343741472.mp4"}
+{"uid":"13772279228146751540","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the black 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":"16280771010246015629.mp4"}
+{"uid":"12033382874603866983","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Bring some apple pie from the MK to RC5. last 20 steps: 1- open the door Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring some apple pie from the MK to RC5. Q: immediate next step? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Bring some apple pie from the MK to RC5. last 20 steps: 1- open the door Q: next 5 steps? \u003cPRED\u003eA: 1- close the door 2- place the bowl upright on the table 3- place the snack in the bowl 4- place the snack in the bowl 5- place the fork in the tray\n\u003c/PRED\u003e","video":"10933435990480220477.mp4"}
+{"uid":"17924421410164382983","text":"\u003ctask:success:discrete:False\u003e\nplace the fork 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 some apple pie from the MK to RC5. last 20 steps: 1- open the door 2- close the door 3- place the bowl upright on the table 4- place the snack in the bowl 5- place the snack in the bowl Q: immediate next step? \u003cPRED\u003eA: place the fork in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fork in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fork 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: Bring some apple pie from the MK to RC5. last 20 steps: 1- open the door 2- close the door 3- place the bowl upright on the table 4- place the snack in the bowl 5- place the snack in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the fork in the tray 2- place the fork in the bowl 3- pick up the bowl 4- exit the room with bowl 5- open the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring some apple pie from the MK to RC5. Q: immediate next step? \u003cPRED\u003eA: place the fork in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fork in the tray\n\u003c/PRED\u003e","video":"7534658874857722301.mp4"}
+{"uid":"2835531604372515843","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12923488463883648741.mp4"}
+{"uid":"2123899225312212691","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the 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":"2867291826028485238.mp4"}
+{"uid":"9327946678892807157","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the fork in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the fork 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":"16405118036976962754.mp4"}
+{"uid":"10577362926241819285","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the basket\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 basket\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 basket 2- put packet in the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the basket\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 basket 2- put packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the basket 2- put packet in the basket 3- put packet in the basket 4- put packet in the basket 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17390495179019593900.mp4"}
+{"uid":"5961969132426081960","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the cereal into a bowl. last 20 steps: 1- place the bowl under the cereal dispenser 2- Put the cereal in the bowl 3- place the bowl 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 bowl on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour the cereal into a bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the cereal into a bowl. last 20 steps: 1- place the bowl under the cereal dispenser 2- Put the cereal in the bowl 3- place the bowl on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8774065009935659101.mp4"}
+{"uid":"14727583985002207321","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nthrow the 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":"15409739997138717222.mp4"}
+{"uid":"6791973295477377283","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the basket\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 basket 2- put packet in the basket 3- put packet in the basket 4- put packet in the basket 5- put packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the basket 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please place the chips into the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the basket\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 basket 2- put packet in the basket 3- put packet in the basket 4- put packet in the basket 5- put packet in the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the basket\n\u003c/PRED\u003e","video":"17847467570832367842.mp4"}
+{"uid":"9552938155775416820","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":"4539844009507386321.mp4"}
+{"uid":"6550844293687528330","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl upright on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cheerios and grab me a spoon. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the bowl upright on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl upright on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a bowl of cheerios and grab me a spoon Q: immediate next step? \u003cPRED\u003eA: place the bowl upright on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cheerios and grab me a spoon. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl upright on the table 2- place the bowl on the dispenser 3- fill the cereals in the bowl 4- place the bowl on the table 5- place the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl upright on the table\n\u003c/PRED\u003e","video":"17247160523051392039.mp4"}
+{"uid":"6584374243863247694","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":"14879509135037062235.mp4"}
+{"uid":"12103657024270111434","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cheerios and grab me a spoon. last 20 steps: 1- place the bowl upright on the table 2- place the bowl on the dispenser 3- fill the cereals in the bowl 4- place the bowl on the table Q: immediate next step? \u003cPRED\u003eA: place the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a bowl of cheerios and grab me a spoon Q: immediate next step? \u003cPRED\u003eA: place the spoon in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the spoon in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cheerios and grab me a spoon. last 20 steps: 1- place the bowl upright on the table 2- place the bowl on the dispenser 3- fill the cereals in the bowl 4- place the bowl on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the spoon in the bowl 2- place the bowl to the backward 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the spoon in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11051704602524017455.mp4"}
+{"uid":"3014907859420849289","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the 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":"9619367451024260234.mp4"}
+{"uid":"5421036145597600394","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black pen in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13788429346083792852.mp4"}
+{"uid":"2165917226585181242","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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":"6427226555490680676.mp4"}
+{"uid":"10571717011753155177","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: fill the cereals in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cheerios and grab me a spoon. last 20 steps: 1- place the bowl upright on the table 2- place the bowl on the dispenser Q: immediate next step? \u003cPRED\u003eA: fill the cereals in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cheerios and grab me a spoon. last 20 steps: 1- place the bowl upright on the table 2- place the bowl on the dispenser Q: next 5 steps? \u003cPRED\u003eA: 1- fill the cereals in the bowl 2- place the bowl on the table 3- place the spoon in the bowl 4- place the bowl to the backward 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nfill the cereals 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: fill the cereals in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nfill the cereals in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a bowl of cheerios and grab me a spoon Q: immediate next step? \u003cPRED\u003eA: fill the cereals in the bowl\n\u003c/PRED\u003e","video":"10401886233529314420.mp4"}
+{"uid":"16738631603162215436","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the basket\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 basket\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 basket 2- put packet in the basket 3- put packet in the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the basket\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 basket 2- put packet in the basket 3- put packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the basket 2- put packet in the basket 3- put packet in the basket 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6418703974300110745.mp4"}
+{"uid":"12709393490843386139","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the cereal in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the cereal in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the cereal in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cereal in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the cereal into a bowl. last 20 steps: 1- place the bowl under the cereal dispenser Q: immediate next step? \u003cPRED\u003eA: Put the cereal in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour the cereal into a bowl Q: immediate next step? \u003cPRED\u003eA: Put the cereal in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the cereal into a bowl. last 20 steps: 1- place the bowl under the cereal dispenser Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cereal in the bowl 2- place the bowl on the table 3- done\n\u003c/PRED\u003e","video":"4994755029930104017.mp4"}
+{"uid":"5691968950917943924","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput popcorn chip 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":"10592431870534522071.mp4"}
+{"uid":"4905245160439827658","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 basket 2- put packet in the basket 3- put packet in the basket 4- put packet in the basket 5- put packet in the basket 6- put packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- done\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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the basket 2- put packet in the basket 3- put packet in the basket 4- put packet in the basket 5- put packet in the basket 6- put packet in the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"15210272150549243808.mp4"}
+{"uid":"8519816651179086716","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the black 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":"10017788564352272731.mp4"}
+{"uid":"7547586155562731904","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl upright on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Bring some apple pie from the MK to RC5. last 20 steps: 1- open the door 2- close the door Q: immediate next step? \u003cPRED\u003eA: place the bowl upright on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl upright on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring some apple pie from the MK to RC5. Q: immediate next step? \u003cPRED\u003eA: place the bowl upright on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Bring some apple pie from the MK to RC5. last 20 steps: 1- open the door 2- close the door Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl upright on the table 2- place the snack in the bowl 3- place the snack in the bowl 4- place the fork in the tray 5- place the fork in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl upright on the table\n\u003c/PRED\u003e","video":"4493298279573889704.mp4"}
+{"uid":"5199087667661942324","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the cereal into a bowl. last 20 steps: 1- place the bowl under the cereal dispenser 2- Put the cereal in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl on the table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please pour the cereal into a bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please pour the cereal into a bowl. last 20 steps: 1- place the bowl under the cereal dispenser 2- Put the cereal in the bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17954810117728169510.mp4"}
+{"uid":"15910320168337214876","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the basket\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 basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 packet in the basket\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 basket 2- put packet in the basket 3- put packet in the basket 4- put packet in the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the basket\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 basket 2- put packet in the basket 3- put packet in the basket 4- put packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the basket 2- put packet in the basket 3- done\n\u003c/PRED\u003e","video":"17371985791364887047.mp4"}
+{"uid":"5293908312388441243","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove the glass out from 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":"1546909253487349477.mp4"}
+{"uid":"8727041139861419727","text":"\u003ctask:success:discrete:True\u003e\nPut the cereal 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 cereal in the bowl\n\u003c/PRED\u003e","video":"6164959228115390952.mp4"}
+{"uid":"10647643035760241729","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring some apple pie from the MK to RC5. Q: immediate next step? \u003cPRED\u003eA: exit the room with bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nexit the room with bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 some apple pie from the MK to RC5. last 20 steps: 1- open the door 2- close the door 3- place the bowl upright on the table 4- place the snack in the bowl 5- place the snack in the bowl 6- place the fork in the tray 7- place the fork in the bowl 8- pick up the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- exit the room with bowl 2- open the door 3- enter the room with bowl 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: exit the room with bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nexit the room with bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 some apple pie from the MK to RC5. last 20 steps: 1- open the door 2- close the door 3- place the bowl upright on the table 4- place the snack in the bowl 5- place the snack in the bowl 6- place the fork in the tray 7- place the fork in the bowl 8- pick up the bowl Q: immediate next step? \u003cPRED\u003eA: exit the room with bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: exit the room with bowl\n\u003c/PRED\u003e","video":"4665378916770017917.mp4"}
+{"uid":"5124325646154761028","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace an 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":"1439081201949291622.mp4"}
+{"uid":"3428722568349048204","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":"1516413350812747568.mp4"}
+{"uid":"3590290987558912423","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the snack 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: Bring some apple pie from the MK to RC5. last 20 steps: 1- open the door 2- close the door 3- place the bowl upright on the table 4- place the snack in the bowl Q: immediate next step? \u003cPRED\u003eA: place the snack in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the snack in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring some apple pie from the MK to RC5. Q: immediate next step? \u003cPRED\u003eA: place the snack in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Bring some apple pie from the MK to RC5. last 20 steps: 1- open the door 2- close the door 3- place the bowl upright on the table 4- place the snack in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the snack in the bowl 2- place the fork in the tray 3- place the fork in the bowl 4- pick up the bowl 5- exit the room with bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the snack in the bowl\n\u003c/PRED\u003e","video":"14234728739086783034.mp4"}
+{"uid":"6402852806541373763","text":"\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: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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Bring some apple pie from the MK to RC5. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- open the door 2- close the door 3- place the bowl upright on the table 4- place the snack in the bowl 5- place the snack in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Bring some apple pie from the MK to RC5. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring some apple pie from the MK to RC5. Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e","video":"14432972852705624344.mp4"}
+{"uid":"17201660367165833725","text":"\u003ctask:success:discrete:True\u003e\nput packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the basket\n\u003c/PRED\u003e","video":"3209748717815825169.mp4"}
+{"uid":"4785535944369614654","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the green can 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":"12391056925051041977.mp4"}
+{"uid":"9216658910074608788","text":"\u003ctask:success:discrete:False\u003e\nenter the room with bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 some apple pie from the MK to RC5. last 20 steps: 1- open the door 2- close the door 3- place the bowl upright on the table 4- place the snack in the bowl 5- place the snack in the bowl 6- place the fork in the tray 7- place the fork in the bowl 8- pick up the bowl 9- exit the room with bowl 10- open the door Q: immediate next step? \u003cPRED\u003eA: enter the room with bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: enter the room with bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: enter the room with bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring some apple pie from the MK to RC5. Q: immediate next step? \u003cPRED\u003eA: enter the room with bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Bring some apple pie from the MK to RC5. last 20 steps: 1- open the door 2- close the door 3- place the bowl upright on the table 4- place the snack in the bowl 5- place the snack in the bowl 6- place the fork in the tray 7- place the fork in the bowl 8- pick up the bowl 9- exit the room with bowl 10- open the door Q: next 5 steps? \u003cPRED\u003eA: 1- enter the room with bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nenter the room with bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7675521330043912492.mp4"}
+{"uid":"17528593038607554259","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":"17840012407991588596.mp4"}
+{"uid":"12017437185917625437","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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":"10879789410981454242.mp4"}
+{"uid":"556349182756707313","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tea box in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3257100560408170749.mp4"}
+{"uid":"16719581484960411039","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the snack in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the snack 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":"17145623050711445306.mp4"}
+{"uid":"14308741916106432758","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Bring some apple pie from the MK to RC5. last 20 steps: 1- open the door 2- close the door 3- place the bowl upright on the table 4- place the snack in the bowl 5- place the snack in the bowl 6- place the fork in the tray 7- place the fork in the bowl 8- pick up the bowl 9- exit the room with bowl Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Bring some apple pie from the MK to RC5. last 20 steps: 1- open the door 2- close the door 3- place the bowl upright on the table 4- place the snack in the bowl 5- place the snack in the bowl 6- place the fork in the tray 7- place the fork in the bowl 8- pick up the bowl 9- exit the room with bowl Q: next 5 steps? \u003cPRED\u003eA: 1- open the door 2- enter the room with bowl 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring some apple pie from the MK to RC5. Q: immediate next step? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nopen the door Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: open the door\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nopen the door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12315943197926901325.mp4"}
+{"uid":"12899541565482982715","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput 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":"3704659708225875305.mp4"}
+{"uid":"15576703193628165454","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":"10037484027357383503.mp4"}
+{"uid":"7585870477124853266","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring some apple pie from the MK to RC5. Q: immediate next step? \u003cPRED\u003eA: place the fork in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the fork in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the fork 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: Bring some apple pie from the MK to RC5. last 20 steps: 1- open the door 2- close the door 3- place the bowl upright on the table 4- place the snack in the bowl 5- place the snack in the bowl 6- place the fork in the tray Q: immediate next step? \u003cPRED\u003eA: place the fork in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Bring some apple pie from the MK to RC5. last 20 steps: 1- open the door 2- close the door 3- place the bowl upright on the table 4- place the snack in the bowl 5- place the snack in the bowl 6- place the fork in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place the fork in the bowl 2- pick up the bowl 3- exit the room with bowl 4- open the door 5- enter the room with bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the fork in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the fork in the bowl\n\u003c/PRED\u003e","video":"6487710713721255267.mp4"}
+{"uid":"7532243669729606921","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the bottle on the mat Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6955412872886837730.mp4"}
+{"uid":"8895994065865722248","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":"16508012171305819005.mp4"}
+{"uid":"4662180497205360491","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"9871351366650917021.mp4"}
+{"uid":"7733062039777025415","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cheerios and grab me a spoon. last 20 steps: 1- place the bowl upright on the table 2- place the bowl on the dispenser 3- fill the cereals in the bowl Q: immediate next step? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please make me a bowl of cheerios and grab me a spoon. last 20 steps: 1- place the bowl upright on the table 2- place the bowl on the dispenser 3- fill the cereals in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place the bowl on the table 2- place the spoon in the bowl 3- place the bowl to the backward 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please make me a bowl of cheerios and grab me a spoon Q: immediate next step? \u003cPRED\u003eA: place the bowl on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17057424239176325394.mp4"}
+{"uid":"17903416614867291950","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ntake the trolley towards the wall 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":"16767259898395231328.mp4"}
+{"uid":"6355646260766504270","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in the basket\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 basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please place the chips into the basket. last 20 steps: 1- put packet in the basket Q: immediate next step? \u003cPRED\u003eA: put packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in the basket\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 basket Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in the basket 2- put packet in the basket 3- put packet in the basket 4- put packet in the basket 5- put packet in the basket\n\u003c/PRED\u003e","video":"11978628982515537904.mp4"}
+{"uid":"2513265064590949023","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the right cupboard door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17366177053914260814.mp4"}
+{"uid":"14611916478670615449","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":"1702536114133864378.mp4"}
+{"uid":"4779294218516653068","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Bring some apple pie from the MK to RC5. Q: immediate next step? \u003cPRED\u003eA: pick up the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Bring some apple pie from the MK to RC5. last 20 steps: 1- open the door 2- close the door 3- place the bowl upright on the table 4- place the snack in the bowl 5- place the snack in the bowl 6- place the fork in the tray 7- place the fork in the bowl Q: immediate next step? \u003cPRED\u003eA: pick up the bowl\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Bring some apple pie from the MK to RC5. last 20 steps: 1- open the door 2- close the door 3- place the bowl upright on the table 4- place the snack in the bowl 5- place the snack in the bowl 6- place the fork in the tray 7- place the fork in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the bowl 2- exit the room with bowl 3- open the door 4- enter the room with bowl 5- 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the bowl\n\u003c/PRED\u003e","video":"486087627438485819.mp4"}
+{"uid":"4078900496798881955","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the bowl upright on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the bowl upright on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5599576404606965044.mp4"}
+{"uid":"10855731723009195319","text":"\u003ctask:success:discrete:True\u003e\nplace 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: place spoon in the holder\n\u003c/PRED\u003e","video":"14017474325759258504.mp4"}
+{"uid":"7188193255879740534","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":"17704142895308403196.mp4"}
+{"uid":"1553660253529128113","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":"2037182059480155871.mp4"}
+{"uid":"923717962109622978","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room Q: immediate next step? \u003cPRED\u003eA: place the pen in the trolley\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand 3- pick up the pen from the table 4- put the pen on the stand 5- pick up the pen from the table 6- pick up the another pen Q: immediate next step? \u003cPRED\u003eA: place the pen in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen 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:success:discrete:False\u003e\nplace the pen 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand 3- pick up the pen from the table 4- put the pen on the stand 5- pick up the pen from the table 6- pick up the another pen Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the trolley 2- pull the cart near to wall 3- push the cart near the wall 4- done\n\u003c/PRED\u003e","video":"706546875849868432.mp4"}
+{"uid":"1509722608564872748","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8318499301598087134.mp4"}
+{"uid":"17399119081742811093","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":"5639233669474934401.mp4"}
+{"uid":"9161096628905867258","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the green 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":"12351550721603404950.mp4"}
+{"uid":"14637665492381440075","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen 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:planning:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room Q: immediate next step? \u003cPRED\u003eA: put the pen on the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand 3- pick up the pen from the table 4- put the pen on the stand 5- pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: put the pen on the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand 3- pick up the pen from the table 4- put the pen on the stand 5- pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen on the stand 2- pull the cart near to wall 3- push the cart near the wall 4- 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 stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen 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: put the pen on the stand\n\u003c/PRED\u003e","video":"10676355324284629599.mp4"}
+{"uid":"764179780499107773","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder Q: immediate next step? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder. last 20 steps: 1- place some spoon in the holder 2- place three spoon in the holder 3- place two spoon in the holder 4- place spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place spoon in the holder 2- place spoon in the holder 3- place spoon in the holder 4- place spoon in the holder 5- place spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder. last 20 steps: 1- place some spoon in the holder 2- place three spoon in the holder 3- place two spoon in the holder 4- place spoon in the holder Q: immediate next step? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e","video":"10151614637462312905.mp4"}
+{"uid":"14237484357095346478","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":"3996906489013230593.mp4"}
+{"uid":"18025068393016260896","text":"\u003ctask:success:discrete:False\u003e\ndrop the pen into the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the cart 2- pick up the pen from the table 3- pick up the another pen 4- put the pen on the stand 5- pull the cart near to wall\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room Q: immediate next step? \u003cPRED\u003eA: drop the pen into the cart\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the cart\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the cart\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand Q: immediate next step? \u003cPRED\u003eA: drop the pen into the cart\n\u003c/PRED\u003e","video":"2536589392968513284.mp4"}
+{"uid":"2816415324907785662","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":"12976106273754528176.mp4"}
+{"uid":"1521807758954253269","text":"\u003ctask:success:discrete:True\u003e\npick up the another 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 another pen\n\u003c/PRED\u003e","video":"7073307307854844858.mp4"}
+{"uid":"9694937599133008317","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the pen into the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the pen into the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand 3- pick up the pen from the table 4- put the pen on the stand 5- pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: drop the pen into the cart\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the pen into the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand 3- pick up the pen from the table 4- put the pen on the stand 5- pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the pen into the cart 2- pull the cart near to wall 3- push the cart near the wall 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room Q: immediate next step? \u003cPRED\u003eA: drop the pen into the cart\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the pen into the cart\n\u003c/PRED\u003e","video":"5647740903146923007.mp4"}
+{"uid":"9121504106312992751","text":"\u003ctask:success:discrete:True\u003e\nplace two 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: place two spoon in the holder\n\u003c/PRED\u003e","video":"10356574981850209652.mp4"}
+{"uid":"4130506083718679819","text":"\u003ctask:success:discrete:True\u003e\nplace the pen 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 pen in the trolley\n\u003c/PRED\u003e","video":"4674044313382142324.mp4"}
+{"uid":"1052950045340734407","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room Q: immediate next step? \u003cPRED\u003eA: put the bottle on the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer Q: next 5 steps? \u003cPRED\u003eA: 1- put the bottle on the stand 2- pick up the pen from the table 3- put the pen on the stand 4- pick up the pen from the table 5- pick up the another pen\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the bottle on the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer Q: immediate next step? \u003cPRED\u003eA: put the bottle on the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the bottle 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:affordance:discriminative:discrete:True\u003e\nput the bottle 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the bottle on the stand\n\u003c/PRED\u003e","video":"797203018290579540.mp4"}
+{"uid":"8701411687636330180","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand 3- pick up the pen from the table 4- put the pen on the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pen from the table 2- pick up the another pen 3- put the pen on the stand 4- pull the cart near to wall 5- push the cart near the wall\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room Q: immediate next step? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand 3- pick up the pen from the table 4- put the pen on the stand Q: immediate next step? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e","video":"15466898655607671135.mp4"}
+{"uid":"5323016894658563845","text":"\u003ctask:success:discrete:True\u003e\nput the pen 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: put the pen on the stand\n\u003c/PRED\u003e","video":"12584184080580123594.mp4"}
+{"uid":"17860095301882552411","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the another pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room Q: immediate next step? \u003cPRED\u003eA: pick up the another pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand 3- pick up the pen from the table 4- put the pen on the stand 5- pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: pick up the another pen\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the another 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 another pen\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the another 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: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand 3- pick up the pen from the table 4- put the pen on the stand 5- pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the another pen 2- pull the cart near to wall 3- push the cart near the wall 4- done\n\u003c/PRED\u003e","video":"4054992880629499765.mp4"}
+{"uid":"9259669214804954297","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":"16430743143278190797.mp4"}
+{"uid":"16927628927886461445","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the pen on the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pen 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":"11765482059171091156.mp4"}
+{"uid":"2369542670656957192","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand 3- pick up the pen from the table 4- put the pen on the stand 5- pick up the pen from the table 6- pick up the another pen 7- put the pen on the stand 8- pull the cart near to wall Q: immediate next step? \u003cPRED\u003eA: push the cart near the wall\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush the cart near the wall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand 3- pick up the pen from the table 4- put the pen on the stand 5- pick up the pen from the table 6- pick up the another pen 7- put the pen on the stand 8- pull the cart near to wall Q: next 5 steps? \u003cPRED\u003eA: 1- push the cart near the wall 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: push the cart near the wall\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the cart near the wall\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room Q: immediate next step? \u003cPRED\u003eA: push the cart near the wall\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npush the cart near the wall Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15276756139350961003.mp4"}
+{"uid":"18011982636154070938","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder. last 20 steps: 1- place some spoon in the holder 2- place three spoon in the holder 3- place two spoon in the holder 4- place spoon in the holder 5- place spoon in the holder 6- place spoon in the holder 7- place spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place spoon in the holder 2- place spoon in the holder 3- place spoon in the holder 4- place two spoon in the holder 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: put the spoons in the utensil holder Q: immediate next step? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder. last 20 steps: 1- place some spoon in the holder 2- place three spoon in the holder 3- place two spoon in the holder 4- place spoon in the holder 5- place spoon in the holder 6- place spoon in the holder 7- place spoon in the holder Q: immediate next step? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e","video":"18195901568980467608.mp4"}
+{"uid":"15343908120577102867","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the glass in stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7740456667157149044.mp4"}
+{"uid":"894655140134015282","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":"107825641467298470.mp4"}
+{"uid":"9096361847808662822","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":"7891154125052357930.mp4"}
+{"uid":"11991134032641891852","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand 3- pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: put the pen on the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand 3- pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the pen on the stand 2- pick up the pen from the table 3- pick up the another pen 4- put the pen on the stand 5- pull the cart near to wall\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pen 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: put the pen on the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the pen 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:planning:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room Q: immediate next step? \u003cPRED\u003eA: put the pen on the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pen on the stand\n\u003c/PRED\u003e","video":"7845019096401641351.mp4"}
+{"uid":"16241562498242313067","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":"3822365274549360997.mp4"}
+{"uid":"6988133520592343148","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder. last 20 steps: 1- place some spoon in the holder 2- place three spoon in the holder 3- place two spoon in the holder Q: immediate next step? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder Q: immediate next step? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder. last 20 steps: 1- place some spoon in the holder 2- place three spoon in the holder 3- place two spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place spoon in the holder 2- place spoon in the holder 3- place spoon in the holder 4- place spoon in the holder 5- place spoon in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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","video":"8241171913376001080.mp4"}
+{"uid":"11551227449830999287","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen 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":"16249347191482666866.mp4"}
+{"uid":"5376011910878437970","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder. last 20 steps: 1- place some spoon in the holder 2- place three spoon in the holder 3- place two spoon in the holder 4- place spoon in the holder 5- place spoon in the holder 6- place spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place spoon in the holder 2- place spoon in the holder 3- place spoon in the holder 4- place spoon in the holder 5- place two spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: put the spoons in the utensil holder Q: immediate next step? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder. last 20 steps: 1- place some spoon in the holder 2- place three spoon in the holder 3- place two spoon in the holder 4- place spoon in the holder 5- place spoon in the holder 6- place spoon in the holder Q: immediate next step? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e","video":"12885775373938990363.mp4"}
+{"uid":"8803485897673082916","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the napkin out of dispenser and place it on the 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":"7912041304225588021.mp4"}
+{"uid":"4572005583468787940","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange 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":"18051645257083167376.mp4"}
+{"uid":"11994107843783427825","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":"8529418599347263205.mp4"}
+{"uid":"5642575397360892063","text":"\u003ctask:success:discrete:True\u003e\ndrop the pen into the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 cart\n\u003c/PRED\u003e","video":"13109953621886612103.mp4"}
+{"uid":"6827143222298184667","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand 3- pick up the pen from the table 4- put the pen on the stand 5- pick up the pen from the table 6- pick up the another pen 7- put the pen on the stand 8- push the stand Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: push the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npush 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 return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand 3- pick up the pen from the table 4- put the pen on the stand 5- pick up the pen from the table 6- pick up the another pen 7- put the pen on the stand 8- push the stand Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"8431432184580260692.mp4"}
+{"uid":"11399230189711641213","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a 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":"5703981250031479838.mp4"}
+{"uid":"7819493133943306842","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place two spoon in the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place two spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder Q: immediate next step? \u003cPRED\u003eA: place two spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace two 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: put the spoons in the utensil holder. last 20 steps: 1- place some spoon in the holder 2- place three spoon in the holder 3- place two spoon in the holder 4- place spoon in the holder 5- place spoon in the holder 6- place spoon in the holder 7- place spoon in the holder 8- place spoon in the holder 9- place spoon in the holder 10- place spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place two spoon in the holder 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace two 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: put the spoons in the utensil holder. last 20 steps: 1- place some spoon in the holder 2- place three spoon in the holder 3- place two spoon in the holder 4- place spoon in the holder 5- place spoon in the holder 6- place spoon in the holder 7- place spoon in the holder 8- place spoon in the holder 9- place spoon in the holder 10- place spoon in the holder Q: immediate next step? \u003cPRED\u003eA: place two spoon in the holder\n\u003c/PRED\u003e","video":"11467630220814319560.mp4"}
+{"uid":"15490282448032308006","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the pen 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":"652864028641301876.mp4"}
+{"uid":"2478354629831321990","text":"\u003ctask:success:discrete:True\u003e\npull the cart near to wall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pull the cart near to wall\n\u003c/PRED\u003e","video":"1642507441738122736.mp4"}
+{"uid":"15724913155373705125","text":"\u003ctask:success:discrete:True\u003e\nplace 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: place spoon in the holder\n\u003c/PRED\u003e","video":"18003397544713209317.mp4"}
+{"uid":"10609283298182147773","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the sponge 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":"1533115551411241946.mp4"}
+{"uid":"17026516974093392410","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room Q: immediate next step? \u003cPRED\u003eA: pick up the pen\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pen 2- pick up the pen from the table 3- pick up the another pen 4- put the pen on the stand 5- pull the cart near to wall\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pen Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17270992858254717765.mp4"}
+{"uid":"8720909032290050123","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder. last 20 steps: 1- place some spoon in the holder 2- place three spoon in the holder 3- place two spoon in the holder 4- place spoon in the holder 5- place spoon in the holder 6- place spoon in the holder 7- place spoon in the holder 8- place spoon in the holder Q: immediate next step? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder Q: immediate next step? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: put the spoons in the utensil holder. last 20 steps: 1- place some spoon in the holder 2- place three spoon in the holder 3- place two spoon in the holder 4- place spoon in the holder 5- place spoon in the holder 6- place spoon in the holder 7- place spoon in the holder 8- place spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place spoon in the holder 2- place spoon in the holder 3- place two spoon in the holder 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e","video":"14075686624852684161.mp4"}
+{"uid":"13547763892857480256","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the bottom 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":"472504831288440436.mp4"}
+{"uid":"9481408455317693566","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":"1727803042075939856.mp4"}
+{"uid":"11567330654549526443","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand 3- pick up the pen from the table Q: immediate next step? \u003cPRED\u003eA: place the pen in the trolley\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room Q: immediate next step? \u003cPRED\u003eA: place the pen in the trolley\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the trolley\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand 3- pick up the pen from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the trolley 2- pick up the pen from the table 3- pick up the another pen 4- put the pen on the stand 5- pull the cart near to wall\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the trolley\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen 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","video":"5468003655286529371.mp4"}
+{"uid":"3791795074531980224","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pull the cart near to wall\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npull the cart near to wall Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npull the cart near to wall Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pull the cart near to wall\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand 3- pick up the pen from the table 4- put the pen on the stand 5- pick up the pen from the table 6- pick up the another pen 7- put the pen on the stand Q: immediate next step? \u003cPRED\u003eA: pull the cart near to wall\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand 3- pick up the pen from the table 4- put the pen on the stand 5- pick up the pen from the table 6- pick up the another pen 7- put the pen on the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pull the cart near to wall 2- push the cart near the wall 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room Q: immediate next step? \u003cPRED\u003eA: pull the cart near to wall\n\u003c/PRED\u003e","video":"10329046241187476546.mp4"}
+{"uid":"14937509784585268397","text":"\u003ctask:success:discrete:True\u003e\nplace 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: place spoon in the holder\n\u003c/PRED\u003e","video":"8318919970247982010.mp4"}
+{"uid":"13276774615828509596","text":"\u003ctask:success:discrete:True\u003e\nplace two 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder. last 20 steps: 1- place some spoon in the holder 2- place three spoon in the holder 3- place two spoon in the holder 4- place spoon in the holder 5- place spoon in the holder 6- place spoon in the holder 7- place spoon in the holder 8- place spoon in the holder 9- place spoon in the holder 10- place spoon in the holder 11- place two spoon 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: place two spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder. last 20 steps: 1- place some spoon in the holder 2- place three spoon in the holder 3- place two spoon in the holder 4- place spoon in the holder 5- place spoon in the holder 6- place spoon in the holder 7- place spoon in the holder 8- place spoon in the holder 9- place spoon in the holder 10- place spoon in the holder 11- place two spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"18032791061075689072.mp4"}
+{"uid":"11779108798314083245","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the bottle on the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the bottle 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":"3253486443157489840.mp4"}
+{"uid":"7041339263953945308","text":"\u003ctask:success:discrete:True\u003e\npick up the pen 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 pen from the table\n\u003c/PRED\u003e","video":"5241732772224835437.mp4"}
+{"uid":"13047223819708336226","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace black 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":"13948503145589809647.mp4"}
+{"uid":"14161131466344932544","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npush 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 return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand 3- pick up the pen from the table 4- put the pen on the stand 5- pick up the pen from the table 6- pick up the another pen 7- put the pen on the stand Q: immediate next step? \u003cPRED\u003eA: push the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand 3- pick up the pen from the table 4- put the pen on the stand 5- pick up the pen from the table 6- pick up the another pen 7- put the pen on the stand Q: next 5 steps? \u003cPRED\u003eA: 1- push the stand 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: push the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npush 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: push the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room Q: immediate next step? \u003cPRED\u003eA: push the stand\n\u003c/PRED\u003e","video":"5756769188549039577.mp4"}
+{"uid":"8932280346897766987","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place three spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder. last 20 steps: 1- place some spoon in the holder Q: immediate next step? \u003cPRED\u003eA: place three spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder Q: immediate next step? \u003cPRED\u003eA: place three spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder. last 20 steps: 1- place some spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place three spoon in the holder 2- place two spoon in the holder 3- place spoon in the holder 4- place spoon in the holder 5- place spoon in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace three 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:affordance:discriminative:discrete:True\u003e\nplace three 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: place three spoon in the holder\n\u003c/PRED\u003e","video":"375855331602262467.mp4"}
+{"uid":"1026269739084961901","text":"\u003ctask:success:discrete:True\u003e\ndrop the pen into the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 cart\n\u003c/PRED\u003e","video":"15274490772976954230.mp4"}
+{"uid":"18175232944234325940","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the bottle into the cart\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the bottle into the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11581214228326101319.mp4"}
+{"uid":"18045252575140090116","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":"3208339769800717165.mp4"}
+{"uid":"5914938002088676667","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder Q: immediate next step? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: put the spoons in the utensil holder. last 20 steps: 1- place some spoon in the holder 2- place three spoon in the holder 3- place two spoon in the holder 4- place spoon in the holder 5- place spoon in the holder Q: immediate next step? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder. last 20 steps: 1- place some spoon in the holder 2- place three spoon in the holder 3- place two spoon in the holder 4- place spoon in the holder 5- place spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place spoon in the holder 2- place spoon in the holder 3- place spoon in the holder 4- place spoon in the holder 5- place spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e","video":"14670318063613597418.mp4"}
+{"uid":"3747729597446159939","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":"18198613048122137163.mp4"}
+{"uid":"16770665097017666763","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the bottle into the cart Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room Q: immediate next step? \u003cPRED\u003eA: drop the bottle into the cart\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the bottle into the cart\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the bottle into the cart\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop the bottle into the cart 2- put the bottle on the stand 3- pick up the pen from the table 4- put the pen on the stand 5- pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the bottle into the cart Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop the bottle into the cart\n\u003c/PRED\u003e","video":"8487014623663827264.mp4"}
+{"uid":"3213293290496927304","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the sanitizer\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the sanitizer Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11611832554097682671.mp4"}
+{"uid":"13411942166480194185","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder. last 20 steps: 1- place some spoon in the holder 2- place three spoon in the holder 3- place two spoon in the holder 4- place spoon in the holder 5- place spoon in the holder 6- place spoon in the holder 7- place spoon in the holder 8- place spoon in the holder 9- place spoon in the holder Q: immediate next step? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder. last 20 steps: 1- place some spoon in the holder 2- place three spoon in the holder 3- place two spoon in the holder 4- place spoon in the holder 5- place spoon in the holder 6- place spoon in the holder 7- place spoon in the holder 8- place spoon in the holder 9- place spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place spoon in the holder 2- place two spoon in the holder 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder Q: immediate next step? \u003cPRED\u003eA: place spoon in the holder\n\u003c/PRED\u003e","video":"8192224499628921180.mp4"}
+{"uid":"16721368335369547190","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":"16905456633499602379.mp4"}
+{"uid":"18108055370589964591","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place two spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder. last 20 steps: 1- place some spoon in the holder 2- place three spoon in the holder Q: immediate next step? \u003cPRED\u003eA: place two spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder Q: immediate next step? \u003cPRED\u003eA: place two spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace two 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place two spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder. last 20 steps: 1- place some spoon in the holder 2- place three spoon in the holder Q: next 5 steps? \u003cPRED\u003eA: 1- place two spoon in the holder 2- place spoon in the holder 3- place spoon in the holder 4- place spoon in the holder 5- place spoon in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace two 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","video":"9094750284871346791.mp4"}
+{"uid":"2511083880896859916","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":"1510817293196160123.mp4"}
+{"uid":"14929068265822409111","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the golden chai 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":"326654070600368059.mp4"}
+{"uid":"7474794447226049547","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut oreo 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":"17820878225143243098.mp4"}
+{"uid":"2727512058611255165","text":"\u003ctask:success:discrete:True\u003e\npick up the bottle from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the bottle from the table\n\u003c/PRED\u003e","video":"13384832346502392402.mp4"}
+{"uid":"9003263252685214436","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pen from the table 2- put the pen on the stand 3- pick up the pen from the table 4- pick up the another pen 5- put the pen on the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the pen from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room Q: immediate next step? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return the hand sanitizer and the pens back to the cart, then move the cart back to the corner of the room. last 20 steps: 1- pick up the sanitizer 2- put the bottle on the stand Q: immediate next step? \u003cPRED\u003eA: pick up the pen from the table\n\u003c/PRED\u003e","video":"5621353247845938239.mp4"}
+{"uid":"16101531501702981906","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":"8635407323566611305.mp4"}
+{"uid":"4664172922046026154","text":"\u003ctask:success:discrete:True\u003e\nplace three 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: place three spoon in the holder\n\u003c/PRED\u003e","video":"12289592398405837270.mp4"}
+{"uid":"14590572159594433072","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":"10758263110761968307.mp4"}
+{"uid":"3829764893660998998","text":"\u003ctask:success:discrete:True\u003e\nplace some 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: place some spoon in the holder\n\u003c/PRED\u003e","video":"3312701487546330221.mp4"}
+{"uid":"5403835633547340732","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place some spoon in the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place some spoon in the holder 2- place three spoon in the holder 3- place two spoon in the holder 4- place spoon in the holder 5- place spoon in the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place some spoon in the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace some 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place some spoon in the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the spoons in the utensil holder Q: immediate next step? \u003cPRED\u003eA: place some spoon in the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace some 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","video":"12863139901446337858.mp4"}
+{"uid":"16910140019121717184","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":"15197394892119750996.mp4"}
+{"uid":"7091129959619761450","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet in the bowl 2- put the packet in the basket 3- put a packet in the bowl 4- put a packet in the bowl 5- put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket Q: immediate next step? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e","video":"789095100194867685.mp4"}
+{"uid":"1567064779167090990","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in bowl 2- put a packet in the bowl 3- put a packet in the bowl 4- put a blue packet in the basket 5- put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into 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: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: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","video":"9080920986252469807.mp4"}
+{"uid":"17571929816820178379","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in bowl 2- put a packet in the bowl 3- put a blue packet in the basket 4- put a packet in the bowl 5- put a packet in the 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: organize the chips into the wire basket and the candies into 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet 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","video":"521263348078864907.mp4"}
+{"uid":"6180035721272769624","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put green packet in stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket Q: immediate next step? \u003cPRED\u003eA: put green packet in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput green 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 green 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green packet in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put green packet in stand 2- put a packet in the bowl 3- put the packet in the basket 4- put a packet in the bowl 5- put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put green packet in stand\n\u003c/PRED\u003e","video":"3097135537506958509.mp4"}
+{"uid":"18342718856566305980","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky note 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":"16337773993056171761.mp4"}
+{"uid":"17234860351870170939","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a 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 a blue packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl 9- put a packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put a blue packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put a blue packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl 9- put a packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put a blue packet in the basket 2- put a packet in the bowl 3- put a packet in the bowl 4- put a packet in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a blue packet in the basket\n\u003c/PRED\u003e","video":"4717733647953648755.mp4"}
+{"uid":"9464171324034140708","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the packets 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":"8947956815195300157.mp4"}
+{"uid":"17893945746958199182","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please throw the plastic cup into the compostables bin. last 20 steps: 1- put plastic glass in dustbin 2- clean the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please throw the plastic cup into the compostables bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclean the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please throw the plastic cup into the compostables bin. last 20 steps: 1- put plastic glass in dustbin 2- clean 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: clean the table\n\u003c/PRED\u003e","video":"1231902172993701849.mp4"}
+{"uid":"10910728573710015510","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet in the bowl 2- put a packet in the bowl 3- put a blue packet in the basket 4- put a packet in the bowl 5- put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e","video":"4479141838788818419.mp4"}
+{"uid":"18445233160422230270","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the paper glass on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6251309761816269925.mp4"}
+{"uid":"11304235346174509616","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put green packet in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput green 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put green packet in stand 2- put a green packet in the basket 3- put a packet in the bowl 4- put the packet in the basket 5- put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put green packet in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put green packet in stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket Q: immediate next step? \u003cPRED\u003eA: put green packet in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput green 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":"7894658976311454372.mp4"}
+{"uid":"11175976218129506703","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3873830210303843738.mp4"}
+{"uid":"14054734804477069208","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the  hint 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":"17763324219363120729.mp4"}
+{"uid":"8180192509988962902","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue packet in stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl 9- put a packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put blue packet in stand 2- put a packet in the bowl 3- put a packet in the bowl 4- put a packet in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl 9- put a packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put blue packet in stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put blue packet in stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue packet in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue 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":"11946385379506348279.mp4"}
+{"uid":"13952818088520249281","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":"6104497449001373226.mp4"}
+{"uid":"11011292753616674","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the paper cup from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1975799692357407824.mp4"}
+{"uid":"6475460858823458913","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop popcorn chip bag 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":"6601334805102843516.mp4"}
+{"uid":"611686958758177693","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a green packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a green 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":"14263282366933057094.mp4"}
+{"uid":"12197426508710403625","text":"\u003ctask:success:discrete:False\u003e\nput the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the basket 2- put a packet in the bowl 3- put the packet in the basket 4- put a packet in the bowl 5- put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e","video":"17842909758596997059.mp4"}
+{"uid":"2577884806063049697","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9502253380506873396.mp4"}
+{"uid":"2933992755507642186","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket Q: immediate next step? \u003cPRED\u003eA: put a green packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put a green packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a green 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put a green packet in the basket 2- put a green packet in the basket 3- put a packet in the bowl 4- put the packet in the basket 5- put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a green 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 a green packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a green packet in the basket\n\u003c/PRED\u003e","video":"13994664167118761754.mp4"}
+{"uid":"7303701583248845653","text":"\u003ctask:success:discrete:True\u003e\nput blue 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blue packet in stand\n\u003c/PRED\u003e","video":"10113586384615771277.mp4"}
+{"uid":"3588224742093882077","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":"17097691316182188311.mp4"}
+{"uid":"6877878020943721805","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl 9- put a packet in the bowl 10- put a blue packet in the basket 11- put a packet in the bowl 12- put a packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl 9- put a packet in the bowl 10- put a blue packet in the basket 11- put a packet in the bowl 12- put a packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6477776896219617629.mp4"}
+{"uid":"13666579519022163294","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a green packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a green 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":"4842821513593848487.mp4"}
+{"uid":"17844142855926549922","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17968695939517163858.mp4"}
+{"uid":"11959004176916662133","text":"\u003ctask:success:discrete:False\u003e\nput the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the basket 2- put a packet in the bowl 3- put a packet in the bowl 4- put a packet in the bowl 5- put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17088344485277014245.mp4"}
+{"uid":"7272659366425222728","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8191113836945501384.mp4"}
+{"uid":"3260347738081427742","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the wrapper 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":"10636215367300985789.mp4"}
+{"uid":"2842881053015692925","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet in the bowl 2- put a packet in the bowl 3- put a packet in the bowl 4- put a packet in the bowl 5- put a blue packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e","video":"5725003725707100585.mp4"}
+{"uid":"14002702984514671211","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put a green packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a green 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 a green packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put a green packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put a green packet in the basket 2- put a packet in the bowl 3- put a packet in the bowl 4- put a packet in the bowl 5- put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a green packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a green 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","video":"3350694011779915557.mp4"}
+{"uid":"10320881704490213051","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1710812491295331886.mp4"}
+{"uid":"14623458010343029877","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl 9- put a packet in the bowl 10- put a blue packet in the basket 11- put a 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl 9- put a packet in the bowl 10- put a blue packet in the basket 11- put a packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in bowl 2- put a packet in the bowl 3- 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:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \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: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","video":"8893802135358206502.mp4"}
+{"uid":"11439857768213254316","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":"8944286360736434696.mp4"}
+{"uid":"2078080383529806116","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack a 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":"17815600278170994491.mp4"}
+{"uid":"12687404094386750167","text":"\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":"7307780050013978322.mp4"}
+{"uid":"3787983130592159612","text":"\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: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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl 9- put a packet in the bowl 10- put a blue packet in the basket 11- put a packet in the bowl 12- put a packet in the bowl Q: immediate next step? \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: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: organize the chips into the wire basket and the candies into 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl 9- put a packet in the bowl 10- put a blue packet in the basket 11- put a packet in the bowl 12- put a packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in bowl 2- done\n\u003c/PRED\u003e","video":"15190895330485843690.mp4"}
+{"uid":"17348156964512546583","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput yellow 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 yellow 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 yellow packet in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put yellow packet in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: put yellow packet in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put yellow packet in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put yellow packet in bowl 2- put a packet in the bowl 3- put a packet in the bowl 4- put a packet in the bowl 5- put a blue packet in the basket\n\u003c/PRED\u003e","video":"293398252772417863.mp4"}
+{"uid":"16984892239428894480","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the pistachio into 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":"3727198687884053761.mp4"}
+{"uid":"16809900629593726486","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the glasses 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":"2661783124686624086.mp4"}
+{"uid":"17112761521946841770","text":"\u003ctask:success:discrete:True\u003e\nput a packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e","video":"11289154230658481551.mp4"}
+{"uid":"16649172447036491487","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":"2554335613307179336.mp4"}
+{"uid":"17665298538187044169","text":"\u003ctask:success:discrete:True\u003e\nput a 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a blue packet in the basket\n\u003c/PRED\u003e","video":"15090827022603557747.mp4"}
+{"uid":"18247424517797351696","text":"\u003ctask:success:discrete:False\u003e\nput the packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance: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: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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the bowl 2- put a packet in the bowl 3- put a packet in the bowl 4- put a packet in the bowl 5- put a blue packet in the basket\n\u003c/PRED\u003e","video":"8517615821691345741.mp4"}
+{"uid":"2024115180974728656","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cookie in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2123755774700010000.mp4"}
+{"uid":"14428907504153373248","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sticky note inside 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":"13041807665979328686.mp4"}
+{"uid":"8792998787761574133","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue file on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15868496200848822303.mp4"}
+{"uid":"14459848136085564505","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet into the large bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12450258793831286542.mp4"}
+{"uid":"8715513590447633414","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":"16543711018871464415.mp4"}
+{"uid":"7910583035661898123","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl 9- put a packet in the bowl 10- put a blue packet in the basket Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl 9- put a packet in the bowl 10- put a blue packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in bowl 2- put a packet in the bowl 3- put a packet in the bowl 4- done\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: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":"14993632768806125342.mp4"}
+{"uid":"5423057534580121744","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put plastic glass in dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput plastic glass in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2528650840031076016.mp4"}
+{"uid":"14399543382236236340","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":"17431302900369320622.mp4"}
+{"uid":"17614556213225437719","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the blue black 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":"14736921193464193888.mp4"}
+{"uid":"4727213776302601274","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"12181840623747774538.mp4"}
+{"uid":"17340019840261260335","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl 9- put a packet in the bowl 10- put a blue packet in the basket 11- put a packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet in the bowl 2- put a packet in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl 9- put a packet in the bowl 10- put a blue packet in the basket 11- put a packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e","video":"1670675046046122194.mp4"}
+{"uid":"15061569360551522161","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"964206530643161173.mp4"}
+{"uid":"2292546409294051141","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13476015930385952933.mp4"}
+{"uid":"18433849780454085924","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a 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:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put a blue packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put a blue packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a 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 a blue packet in the basket\n\u003c/PRED\u003e","video":"637463793796086867.mp4"}
+{"uid":"18059479399090528403","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please throw the plastic cup into the compostables bin Q: immediate next step? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please throw the plastic cup into the compostables bin. last 20 steps: 1- put plastic glass in dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- clean the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please throw the plastic cup into the compostables bin. last 20 steps: 1- put plastic glass in dustbin Q: immediate next step? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclean the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclean the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: clean the table\n\u003c/PRED\u003e","video":"11380740968538542213.mp4"}
+{"uid":"3492632534827410373","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl 9- put a packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the basket 2- put a packet in the bowl 3- put a packet in the bowl 4- put a packet in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl 9- put a packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e","video":"8215817017123097556.mp4"}
+{"uid":"579228211352158691","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the packet in the empty bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11522676903872932050.mp4"}
+{"uid":"9837467476240102553","text":"\u003ctask:success:discrete:False\u003e\nput the candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the bowl 2- put a packet in the bowl 3- put a packet in the bowl 4- put a blue packet in the basket 5- put a 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 candy in the bowl\n\u003c/PRED\u003e","video":"7935996044082035960.mp4"}
+{"uid":"10966872033104665255","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in stand 2- put a packet in the bowl 3- put a packet in the bowl 4- put a packet in the bowl 5- put a packet in the bowl\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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet 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\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","video":"16666942882649150255.mp4"}
+{"uid":"8993944899390857596","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop 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":"7031801141113880707.mp4"}
+{"uid":"13319229420141674129","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pistachios in the paper cup from 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":"1646992325636139030.mp4"}
+{"uid":"15318323127544762437","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl 9- put a packet in the bowl 10- put a blue packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet in the bowl 2- put a packet in the bowl 3- put a packet in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl 9- put a packet in the bowl 10- put a blue packet in the basket Q: immediate next step? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2527070130728279343.mp4"}
+{"uid":"18089832274743594321","text":"\u003ctask:success:discrete:False\u003e\nput the candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl 9- put a packet in the bowl 10- put a blue packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the bowl 2- put a packet in the bowl 3- put a packet in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl 9- put a packet in the bowl 10- put a blue packet in the basket Q: immediate next step? \u003cPRED\u003eA: put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10563514218817485279.mp4"}
+{"uid":"4080813293353741736","text":"\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: organize the chips into the wire basket and the candies into 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put packet in bowl 2- put a blue packet in the basket 3- put a packet in the bowl 4- put a packet in the bowl 5- put a packet in the 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e","video":"14664101797412162253.mp4"}
+{"uid":"16841737688026063189","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":"9259622466878858634.mp4"}
+{"uid":"4416067534863749961","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the basket 2- put a green packet in the basket 3- put a packet in the bowl 4- put the packet in the basket 5- put a 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 basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e","video":"4018813187324137141.mp4"}
+{"uid":"11789771488929092914","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"4814553736400203078.mp4"}
+{"uid":"13778858315324125781","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the 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":"5068074283119236108.mp4"}
+{"uid":"2000143702895643677","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the bean into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"716964450456860836.mp4"}
+{"uid":"2751316143681555094","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove away from the door handle. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"852853997224033594.mp4"}
+{"uid":"3323114863640763480","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cup in drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6741463473224950589.mp4"}
+{"uid":"1521408537361941730","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove spoons holder 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":"14561255218547054021.mp4"}
+{"uid":"7411959758294450134","text":"\u003ctask:success:discrete:True\u003e\nput a 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a blue packet in the basket\n\u003c/PRED\u003e","video":"1021834080397251219.mp4"}
+{"uid":"1924269804314398382","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pebbles in the hole Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14083621902645164647.mp4"}
+{"uid":"9425303004990700607","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a green packet in the basket\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put a green packet in the basket\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket Q: immediate next step? \u003cPRED\u003eA: put a green packet in the basket\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a green 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put a green packet in the basket 2- put a packet in the bowl 3- put the packet in the basket 4- put a packet in the bowl 5- put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a green packet in the basket\n\u003c/PRED\u003e","video":"14102727016904762602.mp4"}
+{"uid":"12899135918888884593","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":"7119651850082723514.mp4"}
+{"uid":"5007764116911496836","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet in the bowl 2- put a packet in the bowl 3- put a packet in the bowl 4- put a blue packet in the basket 5- put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13327348808713104638.mp4"}
+{"uid":"7504910697717571289","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":"9844308204549682858.mp4"}
+{"uid":"3276057586157580014","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":"7451186523130118638.mp4"}
+{"uid":"14186097727556051194","text":"\u003ctask:success:discrete:False\u003e\nput yellow 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:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put yellow packet in bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put yellow packet in bowl 2- put the packet in the basket 3- put a packet in the bowl 4- put a packet in the bowl 5- put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put yellow packet in bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put yellow packet in bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput yellow 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket Q: immediate next step? \u003cPRED\u003eA: put yellow packet in bowl\n\u003c/PRED\u003e","video":"9132762737348767371.mp4"}
+{"uid":"2775951522426701744","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the bowl 2- put a packet in the bowl 3- put a blue packet in the basket 4- put a packet in the bowl 5- put a packet in the bowl\n\u003c/PRED\u003e","video":"11356222661971271911.mp4"}
+{"uid":"6011006576902401522","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput plastic glass 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 plastic glass in dustbin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please throw the plastic cup into the compostables bin. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put plastic glass in dustbin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Can you please throw the plastic cup into the compostables bin Q: immediate next step? \u003cPRED\u003eA: put plastic glass in dustbin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Can you please throw the plastic cup into the compostables bin. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put plastic glass in dustbin 2- clean the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput plastic glass in dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put plastic glass in dustbin\n\u003c/PRED\u003e","video":"12741289769007626571.mp4"}
+{"uid":"15353862106732866692","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the bowl 2- put a blue packet in the basket 3- put a packet in the bowl 4- put a packet in the bowl 5- put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12923617899825916380.mp4"}
+{"uid":"10442029963714827783","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put blue packet in stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put blue packet in stand 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blue packet in stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue packet in stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blue 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 blue 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:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put blue packet in stand\n\u003c/PRED\u003e","video":"7985743513874215192.mp4"}
+{"uid":"11942545908619163457","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl 9- put a packet in the bowl 10- put a blue packet in the basket 11- put a packet in the bowl 12- put a packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl 9- put a packet in the bowl 10- put a blue packet in the basket 11- put a packet in the bowl 12- put a packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the bowl 2- done\n\u003c/PRED\u003e","video":"17791887368838143297.mp4"}
+{"uid":"4233888404187956517","text":"\u003ctask:success:discrete:True\u003e\nput a green packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a green packet in the basket\n\u003c/PRED\u003e","video":"884077720649578864.mp4"}
+{"uid":"9287720896779742868","text":"\u003ctask:success:discrete:True\u003e\nput a packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e","video":"13224488211585925755.mp4"}
+{"uid":"7270322484508551835","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":"2189233251229213612.mp4"}
+{"uid":"15966860573840101488","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput a packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put a packet in the bowl 2- put a blue packet in the basket 3- put a packet in the bowl 4- put a packet in the bowl 5- put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put a packet in the bowl\n\u003c/PRED\u003e","video":"10981517719998990208.mp4"}
+{"uid":"2539704013806166329","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl 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: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket Q: next 5 steps? \u003cPRED\u003eA: 1- put the packet in the bowl 2- put the packet in the basket 3- put a packet in the bowl 4- put a packet in the bowl 5- put a packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the packet in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the packet in the bowl\n\u003c/PRED\u003e","video":"13611722064746811854.mp4"}
+{"uid":"12388087852753418096","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the packet in the basket\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the packet in the basket Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16608759409463752080.mp4"}
+{"uid":"8951909040449965467","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the knife in the holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4538199842588451593.mp4"}
+{"uid":"11055056874505213664","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl 9- put a packet in the bowl 10- put a blue packet in the basket 11- put a packet in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the candy in the bowl 2- put a packet in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the candy in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl Q: immediate next step? \u003cPRED\u003eA: put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the candy in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the candy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: organize the chips into the wire basket and the candies into the bowl. last 20 steps: 1- put a blue packet in the basket 2- put a green packet in the basket 3- put a green packet in the basket 4- put a packet in the bowl 5- put the packet in the basket 6- put a packet in the bowl 7- put a packet in the bowl 8- put a packet in the bowl 9- put a packet in the bowl 10- put a blue packet in the basket 11- put a packet in the bowl Q: immediate next step? \u003cPRED\u003eA: put the candy in the bowl\n\u003c/PRED\u003e","video":"18361990019211289306.mp4"}
+{"uid":"9236727208905015877","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar 4- put the lemon in the jar 5- put the yellow guava in the jar 6- put the yellow guava in the jar 7- Put the orange in glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar 4- put the lemon in the jar 5- put the yellow guava in the jar 6- put the yellow guava in the jar 7- Put the orange in glass jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in glass jar\n\u003c/PRED\u003e","video":"13209655910326375344.mp4"}
+{"uid":"5453948414942912515","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":"6923565983607768535.mp4"}
+{"uid":"9673400017067812545","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the lemon in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar 4- put the lemon in the jar 5- put the yellow guava in the jar 6- put the yellow guava in the jar Q: immediate next step? \u003cPRED\u003eA: put the lemon in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the lemon 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: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar 4- put the lemon in the jar 5- put the yellow guava in the jar 6- put the yellow guava in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the lemon in the jar 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the lemon in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the lemon in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the lemon in the jar\n\u003c/PRED\u003e","video":"9075017167906064048.mp4"}
+{"uid":"3617702977229374939","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pink chocolate into the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10558966870678949606.mp4"}
+{"uid":"6633774781886110468","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":"5517508183021844847.mp4"}
+{"uid":"2636144343404889135","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: place the apple into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple into the jar 2- Put the apple in glass jar 3- put the lemon in the jar 4- put the yellow guava in the jar 5- put the yellow guava in 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: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":"3080016345719055931.mp4"}
+{"uid":"9515396204185902636","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar 4- put the lemon in the jar Q: immediate next step? \u003cPRED\u003eA: Put the fruit in glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the fruit in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the fruit in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar 4- put the lemon in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the fruit in glass jar 2- put the yellow guava in the jar 3- Put the orange in glass jar 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the fruit in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the fruit in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the fruit in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3004738086026847866.mp4"}
+{"uid":"7384277392997928885","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar 4- put the lemon in the jar 5- put the yellow guava in the jar Q: immediate next step? \u003cPRED\u003eA: place the orange into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: place the orange into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: place the orange into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar 4- put the lemon in the jar 5- put the yellow guava in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange into the jar 2- Put the orange in glass jar 3- done\n\u003c/PRED\u003e","video":"10508524768402430191.mp4"}
+{"uid":"2465054977624697368","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange in bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16821837609383122586.mp4"}
+{"uid":"8345076958861777377","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black pen in a pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1299647065611718321.mp4"}
+{"uid":"11191448517445590475","text":"\u003ctask:success:discrete:True\u003e\nPut the orange in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange in glass jar\n\u003c/PRED\u003e","video":"14557791050262746050.mp4"}
+{"uid":"3700761415957972218","text":"\u003ctask:success:discrete:False\u003e\nplace the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: place the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar 4- put the lemon in the jar 5- put the yellow guava in the jar\n\u003c/PRED\u003e","video":"8746253349725799391.mp4"}
+{"uid":"6411127743473248607","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":"3103405153735497387.mp4"}
+{"uid":"18228231682505748928","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar 4- put the lemon in the jar 5- put the yellow guava in the jar 6- put the yellow guava in the jar 7- put the lemon in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar 4- put the lemon in the jar 5- put the yellow guava in the jar 6- put the yellow guava in the jar 7- put the lemon in the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the lemon in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the lemon 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":"13295194629490736619.mp4"}
+{"uid":"15478223556873229750","text":"\u003ctask:success:discrete:True\u003e\nplace the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the jar\n\u003c/PRED\u003e","video":"12200786272974350437.mp4"}
+{"uid":"4353082465319482760","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":"1706013185337368561.mp4"}
+{"uid":"7961732830477151644","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the plate in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9477794887206803580.mp4"}
+{"uid":"144641558947157242","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the apple in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16427950201290872612.mp4"}
+{"uid":"7440218903556439643","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar 4- put the lemon in the jar 5- put the yellow guava in the jar 6- put the yellow guava in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into the jar 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar 4- put the lemon in the jar 5- put the yellow guava in the jar 6- put the yellow guava in 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:planning:freeform\u003e\ncurrent goal is: please 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","video":"12736048579850526943.mp4"}
+{"uid":"16399087868823031819","text":"\u003ctask:success:discrete:False\u003e\nput the yellow guava in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow guava in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow guava in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the yellow guava in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow guava in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar 4- put the lemon in the jar Q: immediate next step? \u003cPRED\u003eA: put the yellow guava in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar 4- put the lemon in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow guava in the jar 2- put the yellow guava in the jar 3- Put the orange in glass jar 4- done\n\u003c/PRED\u003e","video":"5289539529715081381.mp4"}
+{"uid":"17048653405635087423","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":"2368389023231415997.mp4"}
+{"uid":"4255032906244291241","text":"\u003ctask:success:discrete:True\u003e\nput the fruit in 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 fruit in glass vessel\n\u003c/PRED\u003e","video":"9576532706179923874.mp4"}
+{"uid":"15713613861240249183","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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":"3904785124009664189.mp4"}
+{"uid":"10119399553124106237","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the apple in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple in glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar Q: immediate next step? \u003cPRED\u003eA: Put the apple in glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in glass jar 2- Put the apple in glass jar 3- put the lemon in the jar 4- put the yellow guava in the jar 5- put the yellow guava in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the apple in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in glass jar\n\u003c/PRED\u003e","video":"6541869074815328146.mp4"}
+{"uid":"8787005790167637696","text":"\u003ctask:success:discrete:True\u003e\nput the yellow guava 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 guava in the jar\n\u003c/PRED\u003e","video":"3696188109023092887.mp4"}
+{"uid":"980231657295899917","text":"\u003ctask:success:discrete:True\u003e\nPut the apple in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple in glass jar\n\u003c/PRED\u003e","video":"940494025980578593.mp4"}
+{"uid":"8153060273114889812","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":"12840528338398933024.mp4"}
+{"uid":"14663673694433079362","text":"\u003ctask:success:discrete:True\u003e\nput the orange into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange into the jar\n\u003c/PRED\u003e","video":"388225279865734649.mp4"}
+{"uid":"15059576010256800359","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace white paper  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":"14748887844789639736.mp4"}
+{"uid":"4904260085553648382","text":"\u003ctask:success:discrete:True\u003e\nput the yellow guava 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 guava in the jar\n\u003c/PRED\u003e","video":"8698317882151534020.mp4"}
+{"uid":"5471403199018155551","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":"1662158041111342922.mp4"}
+{"uid":"15459866715931614404","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar Q: immediate next step? \u003cPRED\u003eA: put the lemon in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the lemon in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the lemon in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the lemon 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 lemon in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the lemon in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the lemon in the jar 2- put the yellow guava in the jar 3- put the yellow guava in the jar 4- Put the orange in glass jar 5- done\n\u003c/PRED\u003e","video":"14155836153154490717.mp4"}
+{"uid":"17226846659432465646","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please 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: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into the jar 2- put the yellow guava in the jar 3- put the yellow guava in the jar 4- Put the orange in glass jar 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass 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: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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange into the jar\n\u003c/PRED\u003e","video":"182216477427783565.mp4"}
+{"uid":"1107816289122704972","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the apple in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the apple in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: place the apple in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- place the apple in the jar 2- put the lemon in the jar 3- put the yellow guava in the jar 4- put the yellow guava in the jar 5- Put the orange in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the apple in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar Q: immediate next step? \u003cPRED\u003eA: place the apple in the jar\n\u003c/PRED\u003e","video":"2684135103239819409.mp4"}
+{"uid":"2500588165123283385","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9393747800403918814.mp4"}
+{"uid":"17408559807906708245","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar Q: immediate next step? \u003cPRED\u003eA: Put the apple in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in glass jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the apple in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in glass jar 2- put the lemon in the jar 3- put the yellow guava in the jar 4- put the yellow guava in the jar 5- Put the orange in glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in glass jar\n\u003c/PRED\u003e","video":"4617575489733991795.mp4"}
+{"uid":"18327883317717712503","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards the green cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8399110672625210944.mp4"}
+{"uid":"16767992552541185848","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple into the jar 2- put the lemon in the jar 3- put the yellow guava in the jar 4- put the yellow guava in the jar 5- Put the orange in glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass 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:planning:freeform\u003e\ncurrent goal is: please 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\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","video":"6839655192874275925.mp4"}
+{"uid":"7971285745238811070","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the container 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":"8294960328094114495.mp4"}
+{"uid":"13041956790474312090","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the fruit in glass vessel\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the fruit in glass vessel\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the fruit in glass vessel 2- put the yellow guava in the jar 3- put the yellow guava in the jar 4- Put the orange in glass jar 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar Q: immediate next step? \u003cPRED\u003eA: put the fruit in glass vessel\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the fruit in 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:affordance:discriminative:discrete:True\u003e\nput the fruit in 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:planning:freeform\u003e\ncurrent goal is: please place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the fruit in glass vessel\n\u003c/PRED\u003e","video":"17773231514250232685.mp4"}
+{"uid":"9991255464997465174","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the apple in glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the apple in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the apple in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the apple in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the apple in glass jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the apple in glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the apple in glass jar 2- Put the apple in glass jar 3- Put the apple in glass jar 4- put the lemon in the jar 5- put the yellow guava in the jar\n\u003c/PRED\u003e","video":"11480398901586353585.mp4"}
+{"uid":"13616860167358035291","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the apple in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the apple in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18299761665919886240.mp4"}
+{"uid":"10721960358413645951","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the orange in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in glass jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar 4- put the lemon in the jar 5- put the yellow guava in the jar Q: immediate next step? \u003cPRED\u003eA: Put the orange in glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar 4- put the lemon in the jar 5- put the yellow guava in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in glass jar 2- Put the orange in glass jar 3- done\n\u003c/PRED\u003e","video":"11108505516889807494.mp4"}
+{"uid":"7069474002525109494","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nunstack a 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":"10729533947316170554.mp4"}
+{"uid":"3802771234952145097","text":"\u003ctask:success:discrete:True\u003e\nPut the fruit in glass jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the fruit in glass jar\n\u003c/PRED\u003e","video":"14930151247139772099.mp4"}
+{"uid":"4377977867804560335","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar 4- put the lemon in the jar 5- put the yellow guava in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow guava in the jar 2- Put the orange in glass jar 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow guava in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the yellow guava in the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar 4- put the lemon in the jar 5- put the yellow guava in the jar Q: immediate next step? \u003cPRED\u003eA: put the yellow guava in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow guava 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 the yellow guava in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the yellow guava in the jar\n\u003c/PRED\u003e","video":"13518680435960420752.mp4"}
+{"uid":"18387994089938141025","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple into the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please 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 the apple in glass jar 3- Put the apple in glass jar 4- put the lemon in the jar 5- put the yellow guava in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please 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\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the apple into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please 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","video":"10582929734665083298.mp4"}
+{"uid":"13120180515941397201","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the lemon in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the lemon 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":"5008314514890501941.mp4"}
+{"uid":"15680498891966813101","text":"\u003ctask:success:discrete:False\u003e\nput the apple in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple in the jar 2- Put the apple in glass jar 3- put the lemon in the jar 4- put the yellow guava in the jar 5- put the yellow guava in the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the apple in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar Q: immediate next step? \u003cPRED\u003eA: put the apple in the jar\n\u003c/PRED\u003e","video":"5448488429714656754.mp4"}
+{"uid":"5001604440843560403","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":"463354468029612140.mp4"}
+{"uid":"7496134355181732897","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":"6209042727257334718.mp4"}
+{"uid":"18129842611776919965","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstick the orange object to the cupboard door Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18403493624899593337.mp4"}
+{"uid":"1191651282111722860","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":"3820412928807436843.mp4"}
+{"uid":"12216447731018043539","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic forks 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":"15007805509821553020.mp4"}
+{"uid":"11920529628172126168","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place the fruits into the jar Q: immediate next step? \u003cPRED\u003eA: Put the orange in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange in glass jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the orange in glass jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange in glass jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar 4- put the lemon in the jar 5- put the yellow guava in the jar 6- put the yellow guava in the jar Q: immediate next step? \u003cPRED\u003eA: Put the orange in glass jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar 4- put the lemon in the jar 5- put the yellow guava in the jar 6- put the yellow guava in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange in glass jar 2- done\n\u003c/PRED\u003e","video":"10289184205835674481.mp4"}
+{"uid":"4664793336589774909","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":"3199072672168969822.mp4"}
+{"uid":"13038410502480909805","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please 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: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar 4- put the lemon in the jar Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into the jar 2- put the yellow guava in the jar 3- Put the orange in glass jar 4- 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange into the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place the fruits into the jar. last 20 steps: 1- place the apple in the jar 2- Put the apple in glass jar 3- Put the apple in glass jar 4- put the lemon in the jar Q: immediate next step? \u003cPRED\u003eA: put the orange into the jar\n\u003c/PRED\u003e","video":"3121734070042350295.mp4"}
+{"uid":"8072848107704354889","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":"3447564847172416639.mp4"}
+{"uid":"17935858763201958283","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":"13579055213528330839.mp4"}
+{"uid":"10394313196812509531","text":"\u003ctask:success:discrete:False\u003e\nPut 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: Put the cup on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the cup on the table 2- put the pistas in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. Q: immediate next step? \u003cPRED\u003eA: Put the cup on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the cup on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup Q: immediate next step? \u003cPRED\u003eA: Put the cup on the table\n\u003c/PRED\u003e","video":"18304531972945306096.mp4"}
+{"uid":"7787163960590579378","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. Q: immediate next step? \u003cPRED\u003eA: Put the nuts in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nuts in the cup 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward Q: immediate next step? \u003cPRED\u003eA: Put the nuts in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nuts 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 the nuts in the cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nuts in the cup\n\u003c/PRED\u003e","video":"16719812499700250059.mp4"}
+{"uid":"6316399795491624859","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the lid of the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. Q: immediate next step? \u003cPRED\u003eA: Open the lid of the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Open the lid of the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward Q: immediate next step? \u003cPRED\u003eA: Open the lid of the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nOpen the lid of the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward Q: next 5 steps? \u003cPRED\u003eA: 1- Open the lid of the jar 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the lid of the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5744939059369517758.mp4"}
+{"uid":"16669767511621992326","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red pen in the plastic glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8142839875829451394.mp4"}
+{"uid":"6543431053891259534","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the spoon Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the spoon\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the spoon\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the spoon 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. Q: immediate next step? \u003cPRED\u003eA: Pick up the spoon\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward Q: immediate next step? \u003cPRED\u003eA: Pick up the spoon\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the spoon Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1031342242917130192.mp4"}
+{"uid":"11935159721877499690","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nAdjust the blue box 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":"2848810898654737445.mp4"}
+{"uid":"12263330486466119954","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. Q: immediate next step? \u003cPRED\u003eA: Close the lid of the jar\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward Q: next 5 steps? \u003cPRED\u003eA: 1- Close the lid of the jar 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Close the lid of the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nClose the lid of the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward Q: immediate next step? \u003cPRED\u003eA: Close the lid of the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nClose the lid of the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Close the lid of the jar\n\u003c/PRED\u003e","video":"5817546943689003412.mp4"}
+{"uid":"10385236191136119815","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward 3- Close the lid of the jar Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nClose the lid of the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward 3- Close the lid of the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Close the lid of the jar\n\u003c/PRED\u003e","video":"17955000446062509059.mp4"}
+{"uid":"16055283125156211179","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nuts in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nuts in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. Q: immediate next step? \u003cPRED\u003eA: Put the nuts in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward Q: immediate next step? \u003cPRED\u003eA: Put the nuts in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nuts in the cup 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nuts in the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12815488955747180515.mp4"}
+{"uid":"11542332649999023377","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nuts in the cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the nuts in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nuts 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: Serve snacks to tables in MK. Q: immediate next step? \u003cPRED\u003eA: Put the nuts in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nuts in the cup 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward Q: immediate next step? \u003cPRED\u003eA: Put the nuts in the cup\n\u003c/PRED\u003e","video":"1825426054713503269.mp4"}
+{"uid":"14475903454098147187","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cap on table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cap 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: Serve snacks to tables in MK. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward 3- place the cap on table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward 3- place the cap on table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9216356058471346002.mp4"}
+{"uid":"17973663270209428001","text":"\u003ctask:success:discrete:True\u003e\nOpen the lid of the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward 3- Open the lid of 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: Open the lid of the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward 3- Open the lid of the jar Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"2727592782823287979.mp4"}
+{"uid":"988705560457105347","text":"\u003ctask:success:discrete:True\u003e\nPut the nuts in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the nuts in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward 3- Put the nuts in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward 3- Put the nuts in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"6035189896950600492.mp4"}
+{"uid":"7489733236146464349","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":"6516148974887628953.mp4"}
+{"uid":"917045405595260728","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the nuts in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward 3- Put the nuts in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward 3- Put the nuts in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the nuts in the cup\n\u003c/PRED\u003e","video":"10785717441838723148.mp4"}
+{"uid":"3347292867383602356","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":"13492525776807507166.mp4"}
+{"uid":"6649924178059959311","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- place the cup downward 2- put the pistas in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cup downward Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cup downward\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cup downward Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. Q: immediate next step? \u003cPRED\u003eA: place the cup downward\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cup downward\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup Q: immediate next step? \u003cPRED\u003eA: place the cup downward\n\u003c/PRED\u003e","video":"9714291202074239137.mp4"}
+{"uid":"6597484713588612277","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":"16091396954623764752.mp4"}
+{"uid":"5330826821221490410","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. Q: immediate next step? \u003cPRED\u003eA: put the pistas in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the pistas 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 pistas 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 pistas in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward Q: immediate next step? \u003cPRED\u003eA: put the pistas in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the pistas in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward Q: next 5 steps? \u003cPRED\u003eA: 1- put the pistas in the bowl 2- done\n\u003c/PRED\u003e","video":"16624317441893696636.mp4"}
+{"uid":"1636844226569632067","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nclose 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: close the cap\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward Q: next 5 steps? \u003cPRED\u003eA: 1- close the cap 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose 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: Serve snacks to tables in MK. Q: immediate next step? \u003cPRED\u003eA: close the cap\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward Q: immediate next step? \u003cPRED\u003eA: close the cap\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the cap\n\u003c/PRED\u003e","video":"1698938927242503209.mp4"}
+{"uid":"11684653661901661790","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":"10117891131441393800.mp4"}
+{"uid":"4911898364331206636","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward 3- Put the nuts in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward 3- Put the nuts in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the nuts in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the nuts 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":"7264238407167380330.mp4"}
+{"uid":"17757845407557008506","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward Q: next 5 steps? \u003cPRED\u003eA: 1- pour nuts into the cup 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pour nuts into the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. Q: immediate next step? \u003cPRED\u003eA: pour nuts into the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward Q: immediate next step? \u003cPRED\u003eA: pour nuts into the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npour nuts into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npour nuts into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pour nuts into the cup\n\u003c/PRED\u003e","video":"3747493161829908405.mp4"}
+{"uid":"16669994241339261427","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nopen the second drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2265624585262192511.mp4"}
+{"uid":"10689932652996974924","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npickup water bottle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17557217942971963903.mp4"}
+{"uid":"12024364943050534685","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":"18133874484499472887.mp4"}
+{"uid":"4054452613339397828","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward 3- close the cap Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward 3- close the cap 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 cap\n\u003c/PRED\u003e","video":"2129506372124575190.mp4"}
+{"uid":"9054559115727168305","text":"\u003ctask:success:discrete:False\u003e\nplace the cap on table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cap on table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cap on table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cap 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: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward Q: next 5 steps? \u003cPRED\u003eA: 1- place the cap on table 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. Q: immediate next step? \u003cPRED\u003eA: place the cap on table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward Q: immediate next step? \u003cPRED\u003eA: place the cap on table\n\u003c/PRED\u003e","video":"1189128908126054121.mp4"}
+{"uid":"920256803191628983","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npour nuts into the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward 3- pour nuts into the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pour nuts into the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward 3- pour nuts into the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"3079517563657841356.mp4"}
+{"uid":"16046259208875661436","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pebble in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9138363693632120690.mp4"}
+{"uid":"15728936317495856161","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. Q: immediate next step? \u003cPRED\u003eA: Put the nuts in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward Q: immediate next step? \u003cPRED\u003eA: Put the nuts in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the nuts 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 the nuts in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward Q: next 5 steps? \u003cPRED\u003eA: 1- Put the nuts in the cup 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the nuts in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the nuts in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6549564104521961533.mp4"}
+{"uid":"10933907105311249050","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the glass in the stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9837016808569158819.mp4"}
+{"uid":"6233165648467994050","text":"\u003ctask:success:discrete:True\u003e\nPut the nuts in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward 3- Put the nuts in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the nuts in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward 3- Put the nuts in the cup Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"9988130670807787739.mp4"}
+{"uid":"15695857056598847729","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward 3- put the pistas in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Serve snacks to tables in MK. last 20 steps: 1- Pick up the cup 2- place the cup downward 3- put the pistas in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the pistas 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 pistas in the bowl\n\u003c/PRED\u003e","video":"12045714086358075450.mp4"}
+{"uid":"11432677424429919189","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace white packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5242232754130734005.mp4"}
+{"uid":"1255165386509680570","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":"12770762162408311580.mp4"}
+{"uid":"17044723263605614830","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npush the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16810748229901823172.mp4"}
+{"uid":"4791871156603396392","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":"4921891780296544864.mp4"}
+{"uid":"17994945430681879411","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the transparent box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16117001008337043768.mp4"}
+{"uid":"16233861936143369796","text":"\u003ctask:success:discrete:True\u003e\nput the bowl on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the bowl on the table\n\u003c/PRED\u003e","video":"8314244576548397746.mp4"}
+{"uid":"14659639297398431769","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. 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:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. 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 packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"3747787031699718779.mp4"}
+{"uid":"12661293900723044470","text":"\u003ctask:success:discrete:True\u003e\npick up the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e","video":"12890976692190161418.mp4"}
+{"uid":"12008003347158227542","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the 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":"2151831468705978126.mp4"}
+{"uid":"6305040328731129590","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: rearrange the boxes. last 20 steps: 1- pick the glass 2- drop the glass in the carton 3- place the black round object in the carton Q: immediate next step? \u003cPRED\u003eA: place the black object in the carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: rearrange the boxes Q: immediate next step? \u003cPRED\u003eA: place the black object in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black object in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black object in the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black object in the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: rearrange the boxes. last 20 steps: 1- pick the glass 2- drop the glass in the carton 3- place the black round object in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- place the black object in the carton 2- place the charger in the carton 3- pick the carton 4- place the carton upon the another carton 5- pick the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black object in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11897521749703444315.mp4"}
+{"uid":"9628477127034799730","text":"\u003ctask:success:discrete:True\u003e\npick up the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet 4- pick up the packet 5- place instant oatmeal pack in the tray 6- arrange the tray 7- pick up the packet Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet 4- pick up the packet 5- place instant oatmeal pack in the tray 6- arrange the tray 7- pick up the packet Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"10075608358655435379.mp4"}
+{"uid":"9960556847907964285","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet Q: immediate next step? \u003cPRED\u003eA: place instant oatmeal pack in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: place instant oatmeal pack in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place instant oatmeal pack in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place instant oatmeal pack in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace instant oatmeal pack 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: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet Q: next 5 steps? \u003cPRED\u003eA: 1- place instant oatmeal pack in the tray 2- arrange the tray 3- place instant oatmeal pack in the tray 4- done\n\u003c/PRED\u003e","video":"5708793107079970938.mp4"}
+{"uid":"10947485655599791998","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet Q: next 5 steps? \u003cPRED\u003eA: 1- place instant oatmeal pack in the tray 2- place instant oatmeal pack in the tray 3- arrange the tray 4- place instant oatmeal pack in the tray 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place instant oatmeal pack in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place instant oatmeal pack in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet Q: immediate next step? \u003cPRED\u003eA: place instant oatmeal pack in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace instant oatmeal pack 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: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: place instant oatmeal pack in the tray\n\u003c/PRED\u003e","video":"1148231369026975434.mp4"}
+{"uid":"6770442022233541416","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet 4- pick up the packet Q: immediate next step? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet 4- pick up the packet Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the stand 2- place instant oatmeal pack in the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the 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":"834951642953755121.mp4"}
+{"uid":"3211945510925588981","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet Q: immediate next step? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the stand 2- arrange the tray 3- place instant oatmeal pack in the tray 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the 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: Place the packet in the stand\n\u003c/PRED\u003e","video":"1636204029378425583.mp4"}
+{"uid":"4008044814196350886","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: rearrange the boxes. last 20 steps: 1- pick the glass 2- drop the glass in the carton 3- place the black round object in the carton 4- place the black object in the carton 5- place the charger in the carton 6- pick the carton 7- place the carton upon the another carton Q: next 5 steps? \u003cPRED\u003eA: 1- pick the carton 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: rearrange the boxes Q: immediate next step? \u003cPRED\u003eA: pick the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: rearrange the boxes. last 20 steps: 1- pick the glass 2- drop the glass in the carton 3- place the black round object in the carton 4- place the black object in the carton 5- place the charger in the carton 6- pick the carton 7- place the carton upon the another carton Q: immediate next step? \u003cPRED\u003eA: pick the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17814123494441235189.mp4"}
+{"uid":"9961273442899542073","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place instant oatmeal pack in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace instant oatmeal pack 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":"6331886923693883105.mp4"}
+{"uid":"8929987490156988502","text":"\u003ctask:success:discrete:True\u003e\nplace the carton upon the another carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the carton upon the another carton\n\u003c/PRED\u003e","video":"18405382074163848645.mp4"}
+{"uid":"7727377430635464346","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove to 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":"17701266608198450951.mp4"}
+{"uid":"2636093231805059871","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet Q: immediate next step? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the stand 2- place instant oatmeal pack in the tray 3- arrange the tray 4- place instant oatmeal pack in the tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the 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":"9563863777540176149.mp4"}
+{"uid":"7049616465465494359","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11481245790869045454.mp4"}
+{"uid":"1153733584194835820","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the packet 2- pick up the packet 3- pick up the packet 4- place instant oatmeal pack 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: pick up the packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e","video":"14139838035460119983.mp4"}
+{"uid":"5661998400850357520","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":"8894714302059426843.mp4"}
+{"uid":"15181309062623058104","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the packet 2- pick up the packet 3- place instant oatmeal pack in the tray 4- arrange the tray 5- place instant oatmeal pack 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 packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e","video":"2041617530633226610.mp4"}
+{"uid":"1506478283385500068","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":"7011041029419838193.mp4"}
+{"uid":"824471515881051396","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":"16196275047995512395.mp4"}
+{"uid":"3107631792717475170","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet 4- pick up the packet 5- place instant oatmeal pack in the tray 6- arrange the tray Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet 4- pick up the packet 5- place instant oatmeal pack in the tray 6- arrange the tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the packet 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16603330309637082973.mp4"}
+{"uid":"722093318986662815","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the 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":"18403579685465983502.mp4"}
+{"uid":"16944776195669337871","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the black round object in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the black round object in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: rearrange the boxes. last 20 steps: 1- pick the glass 2- drop the glass in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- place the black round object in the carton 2- place the black object in the carton 3- place the charger in the carton 4- pick the carton 5- place the carton upon the another carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: rearrange the boxes Q: immediate next step? \u003cPRED\u003eA: place the black round object in the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: rearrange the boxes. last 20 steps: 1- pick the glass 2- drop the glass in the carton Q: immediate next step? \u003cPRED\u003eA: place the black round object in the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the black round object in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the black round object in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15608099365050262219.mp4"}
+{"uid":"10452677657568839235","text":"\u003ctask:success:discrete:False\u003e\npick the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: rearrange the boxes. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: rearrange the boxes. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the glass 2- drop the glass in the carton 3- place the black round object in the carton 4- place the black object in the carton 5- place the charger in the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: rearrange the boxes Q: immediate next step? \u003cPRED\u003eA: pick the glass\n\u003c/PRED\u003e","video":"14576269362035283965.mp4"}
+{"uid":"4574351771440725661","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the 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":"5133683840527006425.mp4"}
+{"uid":"3609833529696438352","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the houseplant on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8007035129134555165.mp4"}
+{"uid":"16811458517114700148","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace instant oatmeal pack 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: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet 4- place instant oatmeal pack 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: place instant oatmeal pack in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray Q: immediate next step? \u003cPRED\u003eA: place instant oatmeal pack in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: place instant oatmeal pack in the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place instant oatmeal pack in the tray\n\u003c/PRED\u003e","video":"5014746179851301032.mp4"}
+{"uid":"7857314279134747504","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a fork 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":"11719837064690056035.mp4"}
+{"uid":"8146580817282525315","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclean the white board with duster Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12024279346451008320.mp4"}
+{"uid":"5804145598707897389","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the blue cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1749353542603993729.mp4"}
+{"uid":"766501863555642197","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6801074194440522808.mp4"}
+{"uid":"372387842461267777","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp 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":"554025322243988418.mp4"}
+{"uid":"7499573564100223496","text":"\u003ctask:success:discrete:True\u003e\ndrop the glass in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the glass in the carton\n\u003c/PRED\u003e","video":"14111362043129426566.mp4"}
+{"uid":"19874857055723295","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the fridge 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":"7931983834911709738.mp4"}
+{"uid":"12553179114708878037","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11360492629923634152.mp4"}
+{"uid":"14113604964166202927","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":"5680156208423309461.mp4"}
+{"uid":"1834512479982996237","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":"8359975129002479467.mp4"}
+{"uid":"14582610287496832161","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the toffy in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9047563013827224723.mp4"}
+{"uid":"1910252047620237117","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow colored wire bundle 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":"2034455440368435592.mp4"}
+{"uid":"7432998044026604882","text":"\u003ctask:success:discrete:True\u003e\npick up the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e","video":"9011951832937239181.mp4"}
+{"uid":"6464461811083591825","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the 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: fill the basket with oatmeal packets. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the stand 2- pick up the packet 3- pick up the packet 4- place instant oatmeal pack in the tray 5- arrange the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e","video":"15859422679006017432.mp4"}
+{"uid":"4009223112582001357","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":"6563620333702241826.mp4"}
+{"uid":"9937106160677698532","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: arrange the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet 4- pick up the packet 5- place instant oatmeal pack in the tray 6- arrange the tray Q: immediate next step? \u003cPRED\u003eA: done\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\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet 4- pick up the packet 5- place instant oatmeal pack in the tray 6- arrange the tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"12192364283365330740.mp4"}
+{"uid":"9386581419271504987","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the white cup on the bench Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8149700620713232458.mp4"}
+{"uid":"1444032488968703913","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. last 20 steps: none 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: Please remove the chips from the basket 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":"13788856882581214188.mp4"}
+{"uid":"18272267199114766142","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":"9384442534085056490.mp4"}
+{"uid":"7026843305734674410","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the charger in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: rearrange the boxes. last 20 steps: 1- pick the glass 2- drop the glass in the carton 3- place the black round object in the carton 4- place the black object in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- place the charger in the carton 2- pick the carton 3- place the carton upon the another carton 4- pick the carton 5- place the carton upon the another carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the charger in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the charger in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the charger in the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: rearrange the boxes. last 20 steps: 1- pick the glass 2- drop the glass in the carton 3- place the black round object in the carton 4- place the black object in the carton Q: immediate next step? \u003cPRED\u003eA: place the charger in the carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: rearrange the boxes Q: immediate next step? \u003cPRED\u003eA: place the charger in the carton\n\u003c/PRED\u003e","video":"7350657703629508623.mp4"}
+{"uid":"13909436879691307367","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: rearrange the boxes. last 20 steps: 1- pick the glass 2- drop the glass in the carton 3- place the black round object in the carton 4- place the black object in the carton 5- place the charger in the carton 6- pick the carton 7- place the carton upon the another carton 8- place the carton upon the another carton Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: rearrange the boxes Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the carton upon the another carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: rearrange the boxes. last 20 steps: 1- pick the glass 2- drop the glass in the carton 3- place the black round object in the carton 4- place the black object in the carton 5- place the charger in the carton 6- pick the carton 7- place the carton upon the another carton 8- place the carton upon the another carton Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the carton upon the another carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16802147202863817323.mp4"}
+{"uid":"280535160572246185","text":"\u003ctask:success:discrete:True\u003e\nplace instant oatmeal pack 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 instant oatmeal pack in the tray\n\u003c/PRED\u003e","video":"4815524209954529396.mp4"}
+{"uid":"10737895232363940921","text":"\u003ctask:success:discrete:True\u003e\nplace instant oatmeal pack 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 instant oatmeal pack in the tray\n\u003c/PRED\u003e","video":"9389803321778983144.mp4"}
+{"uid":"1620943676537521356","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":"4674134369081463093.mp4"}
+{"uid":"16782051470888751340","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":"1186370822196291429.mp4"}
+{"uid":"1856605907406949811","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the 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":"16997104075507911588.mp4"}
+{"uid":"8045367322172943123","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet 4- pick up the packet 5- place instant oatmeal pack in the tray 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the tray\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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet 4- pick up the packet 5- place instant oatmeal pack in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the tray 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: arrange the tray\n\u003c/PRED\u003e","video":"15232207929869354607.mp4"}
+{"uid":"9139186478448628364","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8031567380186309902.mp4"}
+{"uid":"13431146317745689910","text":"\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. 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:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. 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 packet on the table\n\u003c/PRED\u003e","video":"13672627561772107474.mp4"}
+{"uid":"2102613226038597918","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the glass in the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the glass in the carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: rearrange the boxes Q: immediate next step? \u003cPRED\u003eA: drop the glass in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the glass in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: rearrange the boxes. last 20 steps: 1- pick the glass Q: immediate next step? \u003cPRED\u003eA: drop the glass in the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: rearrange the boxes. last 20 steps: 1- pick the glass Q: next 5 steps? \u003cPRED\u003eA: 1- drop the glass in the carton 2- place the black round object in the carton 3- place the black object in the carton 4- place the charger in the carton 5- pick the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the glass in the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2045251026367900979.mp4"}
+{"uid":"10949260257321528529","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut 4 pista 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":"9488454371834671972.mp4"}
+{"uid":"7678330600234745174","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2171757021303686099.mp4"}
+{"uid":"11910356597062705971","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place instant oatmeal pack in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace instant oatmeal pack 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":"9909908039633981580.mp4"}
+{"uid":"9022662321122078164","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move the stand near\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: Move the stand near\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove the stand near Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 stand near\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet 4- pick up the packet 5- place instant oatmeal pack in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Move the stand near 2- place instant oatmeal pack in the tray 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove the stand near Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED: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 oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet 4- pick up the packet 5- place instant oatmeal pack in the tray Q: immediate next step? \u003cPRED\u003eA: Move the stand near\n\u003c/PRED\u003e","video":"9381425597968860090.mp4"}
+{"uid":"14068093866307491828","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the carton upon the another carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the carton upon the another carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the carton upon the another carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the carton upon the another carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: rearrange the boxes Q: immediate next step? \u003cPRED\u003eA: place the carton upon the another carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: rearrange the boxes. last 20 steps: 1- pick the glass 2- drop the glass in the carton 3- place the black round object in the carton 4- place the black object in the carton 5- place the charger in the carton 6- pick the carton Q: next 5 steps? \u003cPRED\u003eA: 1- place the carton upon the another carton 2- pick the carton 3- place the carton upon the another carton 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: rearrange the boxes. last 20 steps: 1- pick the glass 2- drop the glass in the carton 3- place the black round object in the carton 4- place the black object in the carton 5- place the charger in the carton 6- pick the carton Q: immediate next step? \u003cPRED\u003eA: place the carton upon the another carton\n\u003c/PRED\u003e","video":"7597693451740591573.mp4"}
+{"uid":"13114728081495115124","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the green  rice chip bag in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13663046080935257146.mp4"}
+{"uid":"2431485887555242897","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. 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 packet on the table 2- 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. 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 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: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: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e","video":"18307973541411209203.mp4"}
+{"uid":"5337599678022851677","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":"16008621348851994244.mp4"}
+{"uid":"16771715501519509754","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":"13580653176663798823.mp4"}
+{"uid":"3090659482946928165","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the charger in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the charger in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6021881661054800006.mp4"}
+{"uid":"9620407993832898511","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo near the green cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15899329019622276007.mp4"}
+{"uid":"7920771079187594605","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet 4- pick up the packet 5- place instant oatmeal pack in the tray Q: immediate next step? \u003cPRED\u003eA: place instant oatmeal pack in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace instant oatmeal pack 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: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: place instant oatmeal pack in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet 4- pick up the packet 5- place instant oatmeal pack in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- place instant oatmeal pack 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 instant oatmeal pack in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place instant oatmeal pack in the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace instant oatmeal pack 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":"2552638049121392738.mp4"}
+{"uid":"17416280491791847882","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14799664614935344249.mp4"}
+{"uid":"10006859627751017677","text":"\u003ctask:success:discrete:True\u003e\npick up the packet Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e","video":"17176694784222068828.mp4"}
+{"uid":"10662612088401697611","text":"\u003ctask:success:discrete:True\u003e\nplace instant oatmeal pack 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 instant oatmeal pack in the tray\n\u003c/PRED\u003e","video":"4381628161766308254.mp4"}
+{"uid":"35410644851688781","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":"6473710753203379001.mp4"}
+{"uid":"16373271923902645868","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet 4- pick up the packet Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the packet 2- arrange the tray 3- place instant oatmeal pack in the tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet 4- pick up the packet Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e","video":"449805091330221833.mp4"}
+{"uid":"7974690710209054214","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":"1291928145564267907.mp4"}
+{"uid":"13838741250949799332","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet Q: immediate next step? \u003cPRED\u003eA: place instant oatmeal pack in the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace instant oatmeal pack 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: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet Q: next 5 steps? \u003cPRED\u003eA: 1- place instant oatmeal pack in the tray 2- arrange the tray 3- place instant oatmeal pack 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 instant oatmeal pack in the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place instant oatmeal pack in the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: place instant oatmeal pack in the tray\n\u003c/PRED\u003e","video":"7979187848474530261.mp4"}
+{"uid":"9293707373430487715","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red packet in organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1208233252201164398.mp4"}
+{"uid":"5738942912475977592","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10841067558629893325.mp4"}
+{"uid":"534432435692950705","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet 4- pick up the packet 5- place instant oatmeal pack in the tray 6- arrange the tray Q: immediate next step? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet 4- pick up the packet 5- place instant oatmeal pack in the tray 6- arrange the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the stand 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the 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\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the 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: Place the packet in the stand\n\u003c/PRED\u003e","video":"12769680946892200512.mp4"}
+{"uid":"13440550115026756179","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16774752219581133453.mp4"}
+{"uid":"12222197457457407669","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nturn off light switch Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17097080359363772161.mp4"}
+{"uid":"16178719107294219570","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15420671748803447435.mp4"}
+{"uid":"17590411152569735786","text":"\u003ctask:success:discrete:True\u003e\nplace the black object in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the black object in the carton\n\u003c/PRED\u003e","video":"5644089375710401109.mp4"}
+{"uid":"10719407515640421302","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. 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: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: Please remove the chips from the basket. 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 packet 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 packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2512932918939244158.mp4"}
+{"uid":"11456871626810918048","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the 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":"15972367983380397290.mp4"}
+{"uid":"18336615724006507154","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":"7440771245256734730.mp4"}
+{"uid":"16135812241476642711","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack the glasses on the 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":"3847778373277268708.mp4"}
+{"uid":"5286662108558561889","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: rearrange the boxes. last 20 steps: 1- pick the glass 2- drop the glass in the carton 3- place the black round object in the carton 4- place the black object in the carton 5- place the charger in the carton Q: immediate next step? \u003cPRED\u003eA: pick the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: rearrange the boxes. last 20 steps: 1- pick the glass 2- drop the glass in the carton 3- place the black round object in the carton 4- place the black object in the carton 5- place the charger in the carton Q: next 5 steps? \u003cPRED\u003eA: 1- pick the carton 2- place the carton upon the another carton 3- pick the carton 4- place the carton upon the another carton 5- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: rearrange the boxes Q: immediate next step? \u003cPRED\u003eA: pick the carton\n\u003c/PRED\u003e","video":"18382484817203061390.mp4"}
+{"uid":"3209008680375509736","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. 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: Please remove the chips from the basket 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. 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 packet on the table 3- done\n\u003c/PRED\u003e","video":"16420494015556102372.mp4"}
+{"uid":"9216767213526352638","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet Q: immediate next step? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the packet\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the packet Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray 2- pick up the packet 3- pick up the packet Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the packet 2- arrange the tray 3- place instant oatmeal pack in the tray 4- done\n\u003c/PRED\u003e","video":"4828572580083004847.mp4"}
+{"uid":"13604920335760470606","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the black round object in the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the black round object in the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16571392821301871798.mp4"}
+{"uid":"6969703085250215937","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":"9906112213912117153.mp4"}
+{"uid":"13887052601669638252","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red packet in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3306064877778737131.mp4"}
+{"uid":"14677345526067778593","text":"\u003ctask:success:discrete:False\u003e\nplace the carton upon the another carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the carton upon the another carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: rearrange the boxes. last 20 steps: 1- pick the glass 2- drop the glass in the carton 3- place the black round object in the carton 4- place the black object in the carton 5- place the charger in the carton 6- pick the carton 7- place the carton upon the another carton Q: immediate next step? \u003cPRED\u003eA: place the carton upon the another carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the carton upon the another carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: rearrange the boxes. last 20 steps: 1- pick the glass 2- drop the glass in the carton 3- place the black round object in the carton 4- place the black object in the carton 5- place the charger in the carton 6- pick the carton 7- place the carton upon the another carton Q: next 5 steps? \u003cPRED\u003eA: 1- place the carton upon the another carton 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: rearrange the boxes Q: immediate next step? \u003cPRED\u003eA: place the carton upon the another carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the carton upon the another carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18172699705647376895.mp4"}
+{"uid":"10121018295948040103","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":"17779876235796193409.mp4"}
+{"uid":"13374712049995019359","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets Q: immediate next step? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the packet in the stand 2- pick up the packet 3- place instant oatmeal pack in the tray 4- arrange the tray 5- place instant oatmeal pack in the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: fill the basket with oatmeal packets. last 20 steps: 1- place instant oatmeal pack in the tray Q: immediate next step? \u003cPRED\u003eA: Place the packet in the stand\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the 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: Place the packet in the stand\n\u003c/PRED\u003e","video":"7121401736865038901.mp4"}
+{"uid":"4368497908065585345","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. 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 packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the basket Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the basket. 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 packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"17593892322763847913.mp4"}
+{"uid":"13581522528450044063","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15762123446909422349.mp4"}
+{"uid":"2003620080986476516","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":"802651493938621640.mp4"}
+{"uid":"2417625285994845645","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: release the orange bowl in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl 3- go near the recycle bin Q: immediate next step? \u003cPRED\u003eA: release the orange bowl in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl 3- go near the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- release the orange bowl 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 orange bowl in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease the orange bowl in the bin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nrelease the orange bowl in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arm won't bend far enough Q: immediate next step? \u003cPRED\u003eA: release the orange bowl in the bin\n\u003c/PRED\u003e","video":"15857091442553997489.mp4"}
+{"uid":"12194659060455985336","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":"10436945902737052391.mp4"}
+{"uid":"973544597251820168","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the black cable 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":"17856862898367096620.mp4"}
+{"uid":"18417621000006815146","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the sugar packet in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18257989904362262161.mp4"}
+{"uid":"10338792649223717004","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move close to the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arm won't bend far enough Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl 3- move close to the bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl 3- move close to the bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"4794637615551022010.mp4"}
+{"uid":"15393358430367971038","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":"11225397295581419999.mp4"}
+{"uid":"11521144707513839463","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace toffee in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10705645986572887078.mp4"}
+{"uid":"3046423230081494898","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\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","video":"15374065431713962319.mp4"}
+{"uid":"14276674976626106943","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- move towards the bin 2- release the bowl 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arm won't bend far enough Q: immediate next step? \u003cPRED\u003eA: move towards the bin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move towards the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove towards 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 towards 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 towards the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl Q: immediate next step? \u003cPRED\u003eA: move towards the bin\n\u003c/PRED\u003e","video":"1884996232085844369.mp4"}
+{"uid":"14845770034288706906","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm close to the orange bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nmove your arm close to the orange bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6209079056437403811.mp4"}
+{"uid":"17857133634740293202","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":"4911513613227787218.mp4"}
+{"uid":"14556295349566534157","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":"11222323897827882477.mp4"}
+{"uid":"15286279788104818139","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl Q: immediate next step? \u003cPRED\u003eA: move close to the bin\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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the bin 2- done\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:planning:freeform\u003e\ncurrent goal is: arm won't bend far enough Q: immediate next step? \u003cPRED\u003eA: move close to the bin\n\u003c/PRED\u003e","video":"12112381662844355759.mp4"}
+{"uid":"14469378923981003332","text":"\u003ctask:success:discrete:True\u003e\npick up the orange bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the orange bowl\n\u003c/PRED\u003e","video":"394478136736820205.mp4"}
+{"uid":"8860380008800512111","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace th scoop 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":"8674720071833098554.mp4"}
+{"uid":"6331773173646940285","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack cup 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":"12394802829244563070.mp4"}
+{"uid":"17763706263989386938","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl 3- go near the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ngo near 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:planning:freeform\u003e\ncurrent goal is: arm won't bend far enough Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl 3- go near the recycle bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: go near the recycle bin\n\u003c/PRED\u003e","video":"4898456742934147717.mp4"}
+{"uid":"5146114829212711595","text":"\u003ctask:success:discrete:True\u003e\nmove your arm close to the orange bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: move your arm close to the orange bowl\n\u003c/PRED\u003e","video":"10757675800166200042.mp4"}
+{"uid":"9754786517851805147","text":"\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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl Q: immediate next step? \u003cPRED\u003eA: move close to the bin\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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- move close to the bin 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arm won't bend far enough Q: immediate next step? \u003cPRED\u003eA: move close to the bin\n\u003c/PRED\u003e","video":"17727598700706313480.mp4"}
+{"uid":"1834024078086257435","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to the orange bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the orange bowl 2- go near the recycle bin 3- release the bowl 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move your arm close to the orange bowl\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 orange bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the orange bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arm won't bend far enough Q: immediate next step? \u003cPRED\u003eA: move your arm close to the orange bowl\n\u003c/PRED\u003e","video":"2461013283847550110.mp4"}
+{"uid":"8489110588326509510","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":"10987940984560470816.mp4"}
+{"uid":"12755324970700863170","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":"11828133176471909618.mp4"}
+{"uid":"5431107256784905481","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move your arm close to the orange bowl\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 orange bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm close to the orange bowl 2- go near the recycle bin 3- release the bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove your arm close to the orange bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: move your arm close to the orange bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove your arm close to the orange bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arm won't bend far enough Q: immediate next step? \u003cPRED\u003eA: move your arm close to the orange bowl\n\u003c/PRED\u003e","video":"66021309918382076.mp4"}
+{"uid":"8231122918801929279","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pen in the trolley Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14135245316524103978.mp4"}
+{"uid":"3039903216121113387","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the orange bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arm won't bend far enough Q: immediate next step? \u003cPRED\u003eA: pick the orange bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: 1- move your arm downwards Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange bowl 2- go near the recycle bin 3- release the bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the orange bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: 1- move your arm downwards Q: immediate next step? \u003cPRED\u003eA: pick the orange bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the orange bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14980873820581150294.mp4"}
+{"uid":"1729608909059709716","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the bowl in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the bowl 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: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl Q: immediate next step? \u003cPRED\u003eA: drop the bowl in the bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the bowl in the bin 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arm won't bend far enough Q: immediate next step? \u003cPRED\u003eA: drop the bowl in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the bowl 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 bowl in the bin\n\u003c/PRED\u003e","video":"1587121899204407714.mp4"}
+{"uid":"3186911563962996360","text":"\u003ctask:success:discrete:True\u003e\npick the orange bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the orange bowl\n\u003c/PRED\u003e","video":"5631343135879981950.mp4"}
+{"uid":"9624837876925195365","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the orange packet on 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":"12951114757610068305.mp4"}
+{"uid":"14584293136746180394","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace Brown packet inside 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":"109538090515503449.mp4"}
+{"uid":"13427795417440375290","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the bowl 2- go near the recycle bin 3- release the bowl 4- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arm won't bend far enough Q: immediate next step? \u003cPRED\u003eA: pick the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the bowl\n\u003c/PRED\u003e","video":"8563553570891550016.mp4"}
+{"uid":"12552844077521484589","text":"\u003ctask:success:discrete:True\u003e\ndrop the bowl in the bin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arm won't bend far enough Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the bowl in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl 3- drop the bowl in the bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl 3- drop the bowl in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10017633707705227586.mp4"}
+{"uid":"2020993599333547833","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the orange bowl in the bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the orange bowl in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl 3- go near the recycle bin Q: immediate next step? \u003cPRED\u003eA: drop the orange bowl in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arm won't bend far enough Q: immediate next step? \u003cPRED\u003eA: drop the orange bowl in the bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the orange bowl 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:affordance:discriminative:discrete:True\u003e\ndrop the orange bowl 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: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl 3- go near the recycle bin Q: next 5 steps? \u003cPRED\u003eA: 1- drop the orange bowl in the bin 2- done\n\u003c/PRED\u003e","video":"13830875348350583057.mp4"}
+{"uid":"8660623781716549686","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the bowl in the bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the bowl 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: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- drop the bowl in the bin 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the bowl in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl Q: immediate next step? \u003cPRED\u003eA: drop the bowl in the bin\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arm won't bend far enough Q: immediate next step? \u003cPRED\u003eA: drop the bowl in the bin\n\u003c/PRED\u003e","video":"9823874460737470394.mp4"}
+{"uid":"1114226230742048421","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the orange bowl 2- go near the recycle bin 3- release the bowl 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the orange bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the orange bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the orange bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the orange bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the orange bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arm won't bend far enough Q: immediate next step? \u003cPRED\u003eA: pick up the orange bowl\n\u003c/PRED\u003e","video":"7065007370273618518.mp4"}
+{"uid":"15322840431221570360","text":"\u003ctask:success:discrete:True\u003e\npick the orange bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the orange bowl\n\u003c/PRED\u003e","video":"7147524409126384642.mp4"}
+{"uid":"16772541882016436185","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: 1- move your arm downwards Q: immediate next step? \u003cPRED\u003eA: pick the orange bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the orange bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arm won't bend far enough Q: immediate next step? \u003cPRED\u003eA: pick the orange bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the orange bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the orange bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: 1- move your arm downwards Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange bowl 2- go near the recycle bin 3- release the bowl 4- done\n\u003c/PRED\u003e","video":"5544444345508533224.mp4"}
+{"uid":"15410615168201656657","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":"10125525796485154426.mp4"}
+{"uid":"3095983709164026413","text":"\u003ctask:success:discrete:True\u003e\npick the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the bowl\n\u003c/PRED\u003e","video":"2285940407925546999.mp4"}
+{"uid":"12238643732561670971","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move your arm down\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nmove 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:success:discrete:False\u003e\nmove 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:planning:freeform\u003e\ncurrent goal is: arm won't bend far enough Q: immediate next step? \u003cPRED\u003eA: move your arm down\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm down 2- pick up the orange bowl 3- go near the recycle bin 4- release the bowl 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: 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 down\n\u003c/PRED\u003e","video":"13515012771091894599.mp4"}
+{"uid":"18330716421673625555","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: go near the recycle bin\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- go near the recycle bin 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arm won't bend far enough Q: immediate next step? \u003cPRED\u003eA: go near the recycle bin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: go near the recycle bin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngo near 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: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl Q: immediate next step? \u003cPRED\u003eA: go near the recycle bin\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngo near 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":"8441309716907031369.mp4"}
+{"uid":"9047526273848961616","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick the orange bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick the orange bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7704773281135998493.mp4"}
+{"uid":"10633965488064063980","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":"14749052184051469856.mp4"}
+{"uid":"16727827191916247256","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arm won't bend far enough Q: immediate next step? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- move your arm downwards 2- go near the recycle bin 3- release the bowl 4- done\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move your arm downwards\n\u003c/PRED\u003e","video":"3466092012315482536.mp4"}
+{"uid":"12934782104991569769","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue chocolate into the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3834672993711338076.mp4"}
+{"uid":"11285473768456264971","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the apple in the bowl to your 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":"14986779330576589767.mp4"}
+{"uid":"18052903575698396221","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the orange bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the orange bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the orange bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the orange bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange bowl 2- go near the recycle bin 3- release the bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the orange bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arm won't bend far enough Q: immediate next step? \u003cPRED\u003eA: pick the orange bowl\n\u003c/PRED\u003e","video":"16826210419200850464.mp4"}
+{"uid":"6300368472718395676","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput duster 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":"12353769239997861300.mp4"}
+{"uid":"15858679380940227927","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":"11541714995175697224.mp4"}
+{"uid":"16112263362683429239","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl Q: immediate next step? \u003cPRED\u003eA: release the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: release the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arm won't bend far enough Q: immediate next step? \u003cPRED\u003eA: release the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nrelease the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: release the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nrelease 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: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl Q: next 5 steps? \u003cPRED\u003eA: 1- release the bowl 2- done\n\u003c/PRED\u003e","video":"11504846939737889662.mp4"}
+{"uid":"10561048021076025309","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop the bowl in the bin\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl 3- drop the bowl in the bin Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: arm won't bend far enough Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop the bowl 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: arm won't bend far enough. last 20 steps: 1- move your arm downwards 2- pick up the orange bowl 3- drop the bowl in the bin Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"14376530678683928311.mp4"}
+{"uid":"943227896467970196","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- place the pen in the pen holder 4- place the pen in the pen holder 5- place the marker in the pen holder 6- place the pen in the pen holder 7- place the marker in the pen holder 8- place the marker in the pen holder 9- place the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- place the pen in the pen holder 4- place the pen in the pen holder 5- place the marker in the pen holder 6- place the pen in the pen holder 7- place the marker in the pen holder 8- place the marker in the pen holder 9- place the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e","video":"478077215909003157.mp4"}
+{"uid":"9831396131821931939","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pillow on the sofa\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. . last 20 steps: 1- flip the pillow 2- pick up the pillow Q: immediate next step? \u003cPRED\u003eA: place the pillow on the sofa\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. Q: immediate next step? \u003cPRED\u003eA: place the pillow on the sofa\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pillow on the sofa Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 pillow on the sofa Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. . last 20 steps: 1- flip the pillow 2- pick up the pillow Q: next 5 steps? \u003cPRED\u003eA: 1- place the pillow on the sofa 2- place the pillow upright 3- pick up the pillow 4- place the pillow on the sofa 5- arrange the pillow\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pillow on the sofa\n\u003c/PRED\u003e","video":"14894508313765204131.mp4"}
+{"uid":"9271424750239346238","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table 6- place orange packet on the table 7- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table 6- place orange packet on the table 7- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18060913646214942225.mp4"}
+{"uid":"15283788613433989540","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":"5745858087389876105.mp4"}
+{"uid":"18415053527427470925","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. . last 20 steps: 1- flip the pillow 2- pick up the pillow 3- place the pillow on the sofa Q: next 5 steps? \u003cPRED\u003eA: 1- place the pillow upright 2- pick up the pillow 3- place the pillow on the sofa 4- arrange the pillow 5- place the pillow on the sofa\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pillow upright Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pillow upright Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. Q: immediate next step? \u003cPRED\u003eA: place the pillow upright\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. . last 20 steps: 1- flip the pillow 2- pick up the pillow 3- place the pillow on the sofa Q: immediate next step? \u003cPRED\u003eA: place the pillow upright\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pillow upright\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pillow upright\n\u003c/PRED\u003e","video":"2287882609662800358.mp4"}
+{"uid":"4041476085327395781","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nHang the green bag to the hanger Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"438574971601530394.mp4"}
+{"uid":"12082450494852964077","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table 6- place orange packet on the table 7- place orange packet on the table 8- place orange packet on the table 9- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table 6- place orange packet on the table 7- place orange packet on the table 8- place orange packet on the table 9- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- done\n\u003c/PRED\u003e","video":"5146896361852344626.mp4"}
+{"uid":"934655938699332866","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- place the pen in the pen holder 4- place the pen in the pen holder 5- place the marker in the pen holder 6- place the pen in the pen holder 7- place the marker in the pen holder 8- place the marker in the pen holder 9- place the pen in the pen holder 10- place the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- place the pen in the pen holder 4- place the pen in the pen holder 5- place the marker in the pen holder 6- place the pen in the pen holder 7- place the marker in the pen holder 8- place the marker in the pen holder 9- place the pen in the pen holder 10- place the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9572981775436609412.mp4"}
+{"uid":"5423832551476303346","text":"\u003ctask:success:discrete:False\u003e\nplace the pillow on the sofa Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. . last 20 steps: 1- flip the pillow 2- pick up the pillow 3- place the pillow on the sofa 4- place the pillow upright 5- pick up the pillow 6- place the pillow on the sofa 7- arrange the pillow Q: immediate next step? \u003cPRED\u003eA: place the pillow on the sofa\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. . last 20 steps: 1- flip the pillow 2- pick up the pillow 3- place the pillow on the sofa 4- place the pillow upright 5- pick up the pillow 6- place the pillow on the sofa 7- arrange the pillow Q: next 5 steps? \u003cPRED\u003eA: 1- place the pillow on the sofa 2- arrange the pillow 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pillow on the sofa Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. Q: immediate next step? \u003cPRED\u003eA: place the pillow on the sofa\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pillow on the sofa\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pillow on the sofa\n\u003c/PRED\u003e","video":"11525347482340458335.mp4"}
+{"uid":"2978665609131002365","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:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the marker in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- place the pen in the pen holder 4- place the pen in the pen holder 5- place the marker in the pen holder 6- place the pen in the pen holder 7- place the marker in 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- place the pen in the pen holder 4- place the pen in the pen holder 5- place the marker in the pen holder 6- place the pen in the pen holder 7- place the marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker in the pen holder 2- place the pen in the pen holder 3- place the pen in the pen holder 4- place the pen in the pen holder 5- done\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","video":"6811991745422209673.mp4"}
+{"uid":"5470801717881515700","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- place the pen in the pen holder 2- place the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- place the marker in the pen holder 4- place the pen in the pen holder 5- place the marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- place the pen in the pen holder 2- place the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e","video":"198543872551659359.mp4"}
+{"uid":"13440780054100174618","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":"4248780200044456306.mp4"}
+{"uid":"6683785138864189149","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 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":"5862581007679310478.mp4"}
+{"uid":"9452942343448346676","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange duck in small 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":"11491682103340454366.mp4"}
+{"uid":"15891810725506254875","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- place the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the 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 pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- place the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- place the pen in the pen holder 4- place the marker in the pen holder 5- place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1145504016682969580.mp4"}
+{"uid":"17301008038052471005","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the Plastic spoon on the tissues Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4864356951947617935.mp4"}
+{"uid":"15089837554174758034","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the blue pen from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1243131536421179576.mp4"}
+{"uid":"5116054766191357350","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":"15635747687982486744.mp4"}
+{"uid":"5234396263333704589","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace big 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":"6254955807379282668.mp4"}
+{"uid":"15476201648687342797","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nhang the cap 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":"458723035842060275.mp4"}
+{"uid":"15498970594433306229","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"4653443123693854701.mp4"}
+{"uid":"11250918073578416483","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- place the pen in the pen holder 4- place the pen in the pen holder 5- place the marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- place the pen in the pen holder 4- place the pen in the pen holder 5- place the marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen holder 2- place the marker in the pen holder 3- place the marker in the pen holder 4- place the pen in the pen holder 5- place the 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 pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e","video":"3387022483570602957.mp4"}
+{"uid":"7053506368342315288","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table 6- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table 6- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e","video":"722701321950319599.mp4"}
+{"uid":"8439319100692965396","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":"17016532238142201448.mp4"}
+{"uid":"11331583289757373966","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the pillow\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. Q: immediate next step? \u003cPRED\u003eA: arrange the pillow\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the pillow Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the pillow\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the pillow Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. . last 20 steps: 1- flip the pillow 2- pick up the pillow 3- place the pillow on the sofa 4- place the pillow upright 5- pick up the pillow 6- place the pillow on the sofa Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the pillow 2- place the pillow on the sofa 3- arrange the pillow 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. . last 20 steps: 1- flip the pillow 2- pick up the pillow 3- place the pillow on the sofa 4- place the pillow upright 5- pick up the pillow 6- place the pillow on the sofa Q: immediate next step? \u003cPRED\u003eA: arrange the pillow\n\u003c/PRED\u003e","video":"3933079884105375511.mp4"}
+{"uid":"14942731519467915947","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":"6649691847599911204.mp4"}
+{"uid":"9561673168409375729","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the seaweed snacks in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2843651618610895963.mp4"}
+{"uid":"2932820171591206109","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the paper cup 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":"17296557810947212095.mp4"}
+{"uid":"12661271215376457792","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table 6- place orange packet on the table 7- place orange packet on the table 8- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- place orange packet on the table 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table 6- place orange packet on the table 7- place orange packet on the table 8- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e","video":"13974456723579251733.mp4"}
+{"uid":"6131915979804425627","text":"\u003ctask:success:discrete:True\u003e\nplace orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table 6- place orange packet on the table 7- place orange packet on the table 8- place orange packet on the table 9- place orange packet on the table 10- place orange packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table 6- place orange packet on the table 7- place orange packet on the table 8- place orange packet on the table 9- place orange packet on the table 10- place orange packet on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e","video":"9289398910100577821.mp4"}
+{"uid":"14543653030115137371","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":"10740293036732954054.mp4"}
+{"uid":"17097769389783251961","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place orange packet on the table 5- place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15261224281306992196.mp4"}
+{"uid":"12548684884689766680","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pillow Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. . last 20 steps: 1- flip the pillow 2- pick up the pillow 3- place the pillow on the sofa 4- place the pillow upright Q: immediate next step? \u003cPRED\u003eA: pick up the pillow\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. Q: immediate next step? \u003cPRED\u003eA: pick up the pillow\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the pillow Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pillow\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pillow\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. . last 20 steps: 1- flip the pillow 2- pick up the pillow 3- place the pillow on the sofa 4- place the pillow upright Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pillow 2- place the pillow on the sofa 3- arrange the pillow 4- place the pillow on the sofa 5- arrange the pillow\n\u003c/PRED\u003e","video":"6020681780985660992.mp4"}
+{"uid":"13853631660238394456","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove to 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":"7384790210161892959.mp4"}
+{"uid":"1975208508571313974","text":"\u003ctask:success:discrete:False\u003e\npick up the pillow Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the pillow Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. . last 20 steps: 1- flip the pillow Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the pillow 2- place the pillow on the sofa 3- place the pillow upright 4- pick up the pillow 5- place the pillow on the sofa\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. Q: immediate next step? \u003cPRED\u003eA: pick up the pillow\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the pillow\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. . last 20 steps: 1- flip the pillow Q: immediate next step? \u003cPRED\u003eA: pick up the pillow\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the pillow\n\u003c/PRED\u003e","video":"9351028109622918115.mp4"}
+{"uid":"12388203166325622002","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: arrange the pillow\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. . last 20 steps: 1- flip the pillow 2- pick up the pillow 3- place the pillow on the sofa 4- place the pillow upright 5- pick up the pillow 6- place the pillow on the sofa 7- arrange the pillow 8- place the pillow on the sofa Q: next 5 steps? \u003cPRED\u003eA: 1- arrange the pillow 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: arrange the pillow\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. Q: immediate next step? \u003cPRED\u003eA: arrange the pillow\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\narrange the pillow Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. . last 20 steps: 1- flip the pillow 2- pick up the pillow 3- place the pillow on the sofa 4- place the pillow upright 5- pick up the pillow 6- place the pillow on the sofa 7- arrange the pillow 8- place the pillow on the sofa Q: immediate next step? \u003cPRED\u003eA: arrange the pillow\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\narrange the pillow Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13509984268049602924.mp4"}
+{"uid":"10455366497455450298","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":"3483772313306664336.mp4"}
+{"uid":"8174370674145084740","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":"14180739751926113429.mp4"}
+{"uid":"8683562556197522754","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the brown candy into the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17642689197312438254.mp4"}
+{"uid":"3901031837627238076","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pillow on the sofa\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pillow on the sofa Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1975154327847231577.mp4"}
+{"uid":"6726497464073748357","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange packet on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place orange packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange packet on the table\n\u003c/PRED\u003e","video":"16797382630987164348.mp4"}
+{"uid":"7472892342461183837","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- place the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen holder 2- place the marker in the pen holder 3- place the pen in the pen holder 4- place the marker in the pen holder 5- place the 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 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 pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- place the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e","video":"14593593967343664897.mp4"}
+{"uid":"9997882120760074464","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- place the pen in the pen holder 4- place the pen in the pen holder 5- place the marker in the pen holder 6- place the pen in the pen holder 7- place the marker in the pen holder 8- place the marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- place the pen in the pen holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the 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 pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- place the pen in the pen holder 4- place the pen in the pen holder 5- place the marker in the pen holder 6- place the pen in the pen holder 7- place the marker in the pen holder 8- place the marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e","video":"16991312743619613954.mp4"}
+{"uid":"1903793456047416378","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput another black 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":"16795722641339698207.mp4"}
+{"uid":"3461795255777780867","text":"\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: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: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: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: put all the pens and marker back in the pen holder. last 20 steps: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- place the pen in the pen holder 4- place the pen in the pen holder 5- place the marker in the pen holder 6- place the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker in the pen holder 2- place the marker in the pen holder 3- place the pen in the pen holder 4- place the pen in the pen holder 5- place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the marker in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- place the pen in the pen holder 4- place the pen in the pen holder 5- place the marker in the pen holder 6- place the pen in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the marker in the pen holder\n\u003c/PRED\u003e","video":"13609943952451059426.mp4"}
+{"uid":"228115627318431091","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10668801487543781068.mp4"}
+{"uid":"15585273339044890683","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana 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":"9221590342802554211.mp4"}
+{"uid":"11575342829007125407","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. . last 20 steps: 1- flip the pillow 2- pick up the pillow 3- place the pillow on the sofa 4- place the pillow upright 5- pick up the pillow Q: next 5 steps? \u003cPRED\u003eA: 1- place the pillow on the sofa 2- arrange the pillow 3- place the pillow on the sofa 4- arrange the pillow 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. . last 20 steps: 1- flip the pillow 2- pick up the pillow 3- place the pillow on the sofa 4- place the pillow upright 5- pick up the pillow Q: immediate next step? \u003cPRED\u003eA: place the pillow on the sofa\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pillow on the sofa Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. Q: immediate next step? \u003cPRED\u003eA: place the pillow on the sofa\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pillow on the sofa Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 pillow on the sofa\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pillow on the sofa\n\u003c/PRED\u003e","video":"4629679063248693784.mp4"}
+{"uid":"15029949875448853810","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":"3943669430861975544.mp4"}
+{"uid":"12794771929761412196","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the packet in the black container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4019768000078608124.mp4"}
+{"uid":"16186055032262369078","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table 5- place orange packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17918126325966840559.mp4"}
+{"uid":"683755879436962486","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the clip in the organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9214359266069398548.mp4"}
+{"uid":"17533567238056773392","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet on the table 2- place orange packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table 4- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e","video":"9307578973158855842.mp4"}
+{"uid":"80415115955423199","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the wet wipes 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":"10616394767010067225.mp4"}
+{"uid":"16777618174264283639","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the marker in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7603171405339608292.mp4"}
+{"uid":"9568763262810782597","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":"16581820518722039077.mp4"}
+{"uid":"14410189587290821695","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- place the pen in the pen holder 4- place the pen in the pen holder 5- place the marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the pen in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the pen in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the pen in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1009718449207004079.mp4"}
+{"uid":"17244219340724451412","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bunch of grapes in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4163409338464052219.mp4"}
+{"uid":"9517813229320295341","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pipcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table Q: next 5 steps? \u003cPRED\u003eA: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- place orange packet on the table 4- place orange packet on the table 5- place orange packet on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Please remove the chips from the tray. last 20 steps: 1- place pipcorn packet on the table 2- place pipcorn packet on the table 3- place pipcorn packet on the table Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Please remove the chips from the tray Q: immediate next step? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pipcorn packet on the table\n\u003c/PRED\u003e","video":"7614160137473240989.mp4"}
+{"uid":"1006983131383883443","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. . last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: flip the pillow\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: flip the pillow\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nflip the pillow Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: flip the pillow\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. Q: immediate next step? \u003cPRED\u003eA: flip the pillow\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Reorganize the pillows on the couch. . last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- flip the pillow 2- pick up the pillow 3- place the pillow on the sofa 4- place the pillow upright 5- pick up the pillow\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nflip the pillow Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14226136575797690745.mp4"}
+{"uid":"637818655512732873","text":"\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: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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- place the pen in the pen holder 4- place the pen in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- place the marker in the pen holder 2- place the pen in the pen holder 3- place the marker in the pen holder 4- place the marker in the pen holder 5- place the pen in the pen holder\n\u003c/PRED\u003e\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\u003ctask:planning:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder Q: immediate next step? \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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put all the pens and marker back in the pen holder. last 20 steps: 1- place the pen in the pen holder 2- place the pen in the pen holder 3- place the pen in the pen holder 4- place the pen in 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","video":"3267444106765273479.mp4"}
+{"uid":"9297444120274226627","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass 4- place glasses in a glass holder Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- stack the threee glasses in tray 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass 4- place glasses in a glass holder Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"1275879763452716759.mp4"}
+{"uid":"14892539298707001081","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":"11867359980053866399.mp4"}
+{"uid":"7543124136840813169","text":"\u003ctask:success:discrete:True\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"7662166471447153044.mp4"}
+{"uid":"2383772051054624582","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":"6926062059241486902.mp4"}
+{"uid":"6363836111748830034","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove your arm 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":"12883714425096628974.mp4"}
+{"uid":"5417685001498043847","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser Q: immediate next step? \u003cPRED\u003eA: pick up a glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up a glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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: pick up a glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up a glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up a glass 2- stack the glass 3- place glasses in a glass holder 4- pick up the three glasses 5- stack the threee glasses in tray\n\u003c/PRED\u003e","video":"2989307998118100992.mp4"}
+{"uid":"12866645132125897862","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachios in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11149917130113185065.mp4"}
+{"uid":"17040991875781790340","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place glass in glass holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace glass in glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11152107542920975285.mp4"}
+{"uid":"12572616886998522415","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":"18295249817811823422.mp4"}
+{"uid":"15415909788014089800","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":"458106047600616537.mp4"}
+{"uid":"13750578586652751206","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":"5951168804964358960.mp4"}
+{"uid":"12417609343340177771","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":"1818250221476814259.mp4"}
+{"uid":"2521814585213796623","text":"\u003ctask:success:discrete:True\u003e\nplace glass in a glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass 4- place glasses in a glass holder 5- place glass in a glass holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place glass in a glass holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass 4- place glasses in a glass holder 5- place glass in a glass holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"14665085408795661935.mp4"}
+{"uid":"14494156892292379893","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":"814584070317719233.mp4"}
+{"uid":"7649005404837641448","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser Q: immediate next step? \u003cPRED\u003eA: stack the threee glasses in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the threee glasses in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass 4- place glasses in a glass holder 5- pick up the three glasses Q: next 5 steps? \u003cPRED\u003eA: 1- stack the threee glasses in tray 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass 4- place glasses in a glass holder 5- pick up the three glasses Q: immediate next step? \u003cPRED\u003eA: stack the threee glasses in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the threee glasses 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\nstack the threee glasses in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the threee glasses in tray\n\u003c/PRED\u003e","video":"15197469617536930128.mp4"}
+{"uid":"4580398183642337425","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass 4- place glasses in a glass holder Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass 4- place glasses in a glass holder Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- stack the threee glasses in tray 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2021649369426820643.mp4"}
+{"uid":"2010222954581525634","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the three glasses\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass 4- place glasses in a glass holder Q: immediate next step? \u003cPRED\u003eA: pick up the three glasses\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser Q: immediate next step? \u003cPRED\u003eA: pick up the three glasses\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass 4- place glasses in a glass holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the three glasses 2- stack the threee glasses in tray 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the three 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:affordance:discriminative:discrete:True\u003e\npick up the three 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the three glasses\n\u003c/PRED\u003e","video":"8164158261214904412.mp4"}
+{"uid":"10463703453125717572","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass Q: immediate next step? \u003cPRED\u003eA: place glasses in a glass holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place glasses in a glass holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace glasses in a glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace glasses in a glass holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser Q: immediate next step? \u003cPRED\u003eA: place glasses in a glass holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- place glasses in a glass holder 2- pick up the three glasses 3- stack the threee glasses in tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place glasses in a glass holder\n\u003c/PRED\u003e","video":"9972763532297403378.mp4"}
+{"uid":"4192744744297239848","text":"\u003ctask:success:discrete:False\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- place glasses in a glass holder 3- pick up the three glasses 4- stack the threee glasses in tray 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"23970245672979498.mp4"}
+{"uid":"2340220575998999659","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the knife in the 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":"1560396830786820023.mp4"}
+{"uid":"5457976213121952903","text":"\u003ctask:success:discrete:True\u003e\npick up 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up glasses\n\u003c/PRED\u003e","video":"11092830681027728994.mp4"}
+{"uid":"16689707279404468898","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":"13283034849351482077.mp4"}
+{"uid":"12302734053654428644","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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:success:discrete:False\u003e\npick up 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:planning:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser Q: immediate next step? \u003cPRED\u003eA: pick up glasses\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass Q: immediate next step? \u003cPRED\u003eA: pick up glasses\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- pick up glasses 2- pick up the three glasses 3- stack the threee glasses in tray 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up glasses\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up glasses\n\u003c/PRED\u003e","video":"1776352451062650173.mp4"}
+{"uid":"6964726478501221834","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass Q: next 5 steps? \u003cPRED\u003eA: 1- put a glass in a holder 2- stack the glass 3- place glasses in a glass holder 4- pick up the three glasses 5- stack the threee glasses in tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put a glass in a holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput a glass in a holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 loose plastic cups away into the middle section of the cup dispenser Q: immediate next step? \u003cPRED\u003eA: put a glass in a holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput a glass in a holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass Q: immediate next step? \u003cPRED\u003eA: put a glass in a holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put a glass in a holder\n\u003c/PRED\u003e","video":"9904833378181936450.mp4"}
+{"uid":"7636581513216900692","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":"11810535978840630081.mp4"}
+{"uid":"824790393761086337","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the two glass over a glass in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the two glass over a glass 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":"15699712022985944807.mp4"}
+{"uid":"6902445347979326815","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the three glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the three glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the three glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser Q: immediate next step? \u003cPRED\u003eA: stack the three glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the three glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass 4- place glasses in a glass holder Q: immediate next step? \u003cPRED\u003eA: stack the three glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass 4- place glasses in a glass holder Q: next 5 steps? \u003cPRED\u003eA: 1- stack the three glass 2- done\n\u003c/PRED\u003e","video":"6495860691247049895.mp4"}
+{"uid":"6230879176490473104","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- put the two glass over a glass in tray 2- pick up the three glasses 3- stack the threee glasses in tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the two glass over a glass in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the two glass over a glass 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 the two glass over a glass in tray Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser Q: immediate next step? \u003cPRED\u003eA: put the two glass over a glass in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the two glass over a glass in tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass Q: immediate next step? \u003cPRED\u003eA: put the two glass over a glass in tray\n\u003c/PRED\u003e","video":"8025539532343045503.mp4"}
+{"uid":"2058671566785010527","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass 4- place glasses in a glass holder 5- stack the three glass Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the three glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass 4- place glasses in a glass holder 5- stack the three glass Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the three 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":"6809538001024006003.mp4"}
+{"uid":"17647782114525211450","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a plastic knife in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1017728862143672125.mp4"}
+{"uid":"15723266874607413927","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":"1791954129510504541.mp4"}
+{"uid":"13570481576860751243","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put a glass in a holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput a glass in a 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":"2427839241309457325.mp4"}
+{"uid":"15309002773129531515","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a plastic knife in right 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":"11918299155172970.mp4"}
+{"uid":"3142862324627172882","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- place glasses in a glass holder 3- pick up the three glasses 4- stack the threee glasses in tray 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"6250352628616219006.mp4"}
+{"uid":"11468326065741897012","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink 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":"16380288749016179464.mp4"}
+{"uid":"8883134005830923739","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":"1946130792665677984.mp4"}
+{"uid":"2408497015192526382","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a nut in 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":"1343183695107525410.mp4"}
+{"uid":"501707661028033135","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place glass in glass holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace glass in glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser Q: immediate next step? \u003cPRED\u003eA: place glass in glass holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place glass in glass holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place glass in glass holder 2- stack the glass 3- place glasses in a glass holder 4- pick up the three glasses 5- stack the threee glasses in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place glass in glass holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace glass in glass holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8350031933701560893.mp4"}
+{"uid":"17838453961720960558","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place  a glass in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace  a glass 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":"3011197494911038482.mp4"}
+{"uid":"3011870654517754190","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"2347984767077277253.mp4"}
+{"uid":"9125417407193025706","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp 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":"12064330053714198558.mp4"}
+{"uid":"2707353951882557183","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place glasses in a glass holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace glasses in a glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2373578369120390391.mp4"}
+{"uid":"18038727517960416808","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- place glasses in a glass holder 3- pick up the three glasses 4- stack the threee glasses in tray 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"3385313737812620526.mp4"}
+{"uid":"5838911688084449140","text":"\u003ctask:success:discrete:True\u003e\npick up 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up a glass\n\u003c/PRED\u003e","video":"10301571794940047542.mp4"}
+{"uid":"4126148641316328485","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the threee glasses 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass 4- place glasses in a glass holder 5- pick up the three glasses 6- stack the threee glasses in tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass 4- place glasses in a glass holder 5- pick up the three glasses 6- stack the threee glasses in tray Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the threee glasses in tray\n\u003c/PRED\u003e","video":"3193482855984899683.mp4"}
+{"uid":"109927270024222354","text":"\u003ctask:success:discrete:True\u003e\npick up a stack of two 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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up a stack of two glasses\n\u003c/PRED\u003e","video":"5564806139549579765.mp4"}
+{"uid":"18184553512741038805","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass 4- place glasses in a glass holder Q: immediate next step? \u003cPRED\u003eA: stack the two glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the two glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass 4- place glasses in a glass holder Q: next 5 steps? \u003cPRED\u003eA: 1- stack the two glass 2- stack the threee glasses in tray 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser Q: immediate next step? \u003cPRED\u003eA: stack the two glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the two glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the two glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the two glass\n\u003c/PRED\u003e","video":"15606491539269393213.mp4"}
+{"uid":"15937446839619025199","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the three glasses\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the three 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":"2431000934310828679.mp4"}
+{"uid":"14999574451982976949","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass 4- place glasses in a glass holder Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- stack the threee glasses in tray 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass 4- place glasses in a glass holder Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"10041783781801418745.mp4"}
+{"uid":"18240766577537549871","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray Q: next 5 steps? \u003cPRED\u003eA: 1- pick up a stack of two glasses 2- pick up the three glasses 3- stack the threee glasses in tray 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up a stack of two glasses\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser Q: immediate next step? \u003cPRED\u003eA: pick up a stack of two glasses\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up a stack of two 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:affordance:discriminative:discrete:True\u003e\npick up a stack of two 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up a stack of two glasses\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray Q: immediate next step? \u003cPRED\u003eA: pick up a stack of two glasses\n\u003c/PRED\u003e","video":"2288999364702089251.mp4"}
+{"uid":"14751091322737069210","text":"\u003ctask:success:discrete:True\u003e\npick up 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:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up a glass\n\u003c/PRED\u003e","video":"3751918473751526036.mp4"}
+{"uid":"12307965288609340407","text":"\u003ctask:success:discrete:False\u003e\nplace glass in a glass holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass 4- place glasses in a glass holder Q: immediate next step? \u003cPRED\u003eA: place glass in a glass holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass 4- place glasses in a glass holder Q: next 5 steps? \u003cPRED\u003eA: 1- place glass in a glass holder 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place glass in a glass holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace glass in a glass holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place glass in a glass holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser Q: immediate next step? \u003cPRED\u003eA: place glass in a glass holder\n\u003c/PRED\u003e","video":"13379564013761265832.mp4"}
+{"uid":"7268187104306739067","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass Q: immediate next step? \u003cPRED\u003eA: place  a glass in tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass Q: next 5 steps? \u003cPRED\u003eA: 1- place  a glass in tray 2- stack the glass 3- place glasses in a glass holder 4- pick up the three glasses 5- stack the threee glasses in tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser Q: immediate next step? \u003cPRED\u003eA: place  a glass in tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place  a glass in tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace  a glass 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: place  a glass in tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace  a glass 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":"17803373774679101645.mp4"}
+{"uid":"1249935092177956644","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":"14621540937812989104.mp4"}
+{"uid":"15100233479030448201","text":"\u003ctask:success:discrete:False\u003e\nstack the two glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass Q: immediate next step? \u003cPRED\u003eA: stack the two glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the two glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser. last 20 steps: 1- pick up a glass 2- place  a glass in tray 3- stack the glass Q: next 5 steps? \u003cPRED\u003eA: 1- stack the two glass 2- pick up the three glasses 3- stack the threee glasses in tray 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the two glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the two glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put the loose plastic cups away into the middle section of the cup dispenser Q: immediate next step? \u003cPRED\u003eA: stack the two glass\n\u003c/PRED\u003e","video":"4572640332203112875.mp4"}
+{"uid":"1738415630198878823","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":"15766498340558097555.mp4"}
+{"uid":"7584279115759468078","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick one of the oranges 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":"5923216234386436680.mp4"}
+{"uid":"12696955444224492537","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nRelease the black pebble into the right transparent glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4994447921000784798.mp4"}
+{"uid":"18225574230175923513","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink packet inside the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink packet inside the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- Place the pink packet inside the tray 2- Place the pink packet inside the tray 3- Place the pink packet inside the tray 4- Place the pink packet inside the tray Q: immediate next step? \u003cPRED\u003eA: Place the pink packet inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink packet inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: Place the pink packet inside the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- Place the pink packet inside the tray 2- Place the pink packet inside the tray 3- Place the pink packet inside the tray 4- Place the pink packet inside the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink packet inside the tray 2- Place the pink packet inside the tray 3- Place the red packet inside the tray 4- Place the red packet inside the tray 5- Place the red packet inside the tray\n\u003c/PRED\u003e","video":"2821756792484107045.mp4"}
+{"uid":"3425770471095634604","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: Place the pink packet inside the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- Place the pink packet inside the tray Q: immediate next step? \u003cPRED\u003eA: Place the pink packet inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink packet inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 pink packet inside the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- Place the pink packet inside the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink packet inside the tray 2- Place the pink packet inside the tray 3- Place the pink packet inside the tray 4- Place the pink packet inside the tray 5- Place the pink packet inside the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink packet inside the tray\n\u003c/PRED\u003e","video":"7484392825448357227.mp4"}
+{"uid":"18200339526585793126","text":"\u003ctask:success:discrete:True\u003e\nput the banana on another table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the banana on another table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return banana from desk at wavelength 1a6 to counter in mk. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return banana from desk at wavelength 1a6 to counter in mk. last 20 steps: 1- pick up the banana from the table 2- pick the banana 3- move the banana out of the room 4- put the banana on another table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return banana from desk at wavelength 1a6 to counter in mk. last 20 steps: 1- pick up the banana from the table 2- pick the banana 3- move the banana out of the room 4- put the banana on another table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"1848932070348836962.mp4"}
+{"uid":"13335233501755305939","text":"\u003ctask:success:discrete:True\u003e\nPlace the red packet inside 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 packet inside the tray\n\u003c/PRED\u003e","video":"12786289826596468795.mp4"}
+{"uid":"8927835355616342255","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the banana\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the banana\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick 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 return banana from desk at wavelength 1a6 to counter in mk. Q: immediate next step? \u003cPRED\u003eA: pick the banana\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return banana from desk at wavelength 1a6 to counter in mk. last 20 steps: 1- pick up the banana from the table Q: immediate next step? \u003cPRED\u003eA: pick the banana\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return banana from desk at wavelength 1a6 to counter in mk. last 20 steps: 1- pick up the banana from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the banana 2- move the banana out of the room 3- place the banana on the table 4- done\n\u003c/PRED\u003e","video":"3766163604530671046.mp4"}
+{"uid":"10251654966091660010","text":"\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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask: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 return banana from desk at wavelength 1a6 to counter in mk. Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return banana from desk at wavelength 1a6 to counter in mk. last 20 steps: 1- pick up the banana from the table 2- pick the banana 3- move the banana out of the room Q: immediate next step? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return banana from desk at wavelength 1a6 to counter in mk. last 20 steps: 1- pick up the banana from the table 2- pick the banana 3- move the banana out of the room Q: next 5 steps? \u003cPRED\u003eA: 1- place the banana on the table 2- done\n\u003c/PRED\u003e","video":"7473660019736010111.mp4"}
+{"uid":"8621889836876802665","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink packet inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 pink packet inside the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- Place the pink packet inside the tray 2- Place the pink packet inside the tray 3- Place the pink packet inside the tray 4- Place the pink packet inside the tray 5- Place the pink packet inside the tray Q: immediate next step? \u003cPRED\u003eA: Place the pink packet inside the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink packet inside the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: Place the pink packet inside the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- Place the pink packet inside the tray 2- Place the pink packet inside the tray 3- Place the pink packet inside the tray 4- Place the pink packet inside the tray 5- Place the pink packet inside the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink packet inside the tray 2- Place the red packet inside the tray 3- Place the red packet inside the tray 4- Place the red packet inside the tray 5- Place the red packet inside the tray\n\u003c/PRED\u003e","video":"4028249712128955819.mp4"}
+{"uid":"14557424097871781338","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: Place the red packet inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red packet inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red packet inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- Place the pink packet inside the tray 2- Place the pink packet inside the tray 3- Place the pink packet inside the tray 4- Place the pink packet inside the tray 5- Place the pink packet inside the tray 6- Place the pink packet inside the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red packet inside the tray 2- Place the red packet inside the tray 3- Place the red packet inside the tray 4- Place the red packet inside 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 packet inside the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the red packet inside 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 stack candy into the white tray. last 20 steps: 1- Place the pink packet inside the tray 2- Place the pink packet inside the tray 3- Place the pink packet inside the tray 4- Place the pink packet inside the tray 5- Place the pink packet inside the tray 6- Place the pink packet inside the tray Q: immediate next step? \u003cPRED\u003eA: Place the red packet inside the tray\n\u003c/PRED\u003e","video":"14925391055709224836.mp4"}
+{"uid":"2969631506846926204","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the chocolate ball 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":"13540336868238540228.mp4"}
+{"uid":"8805642181860494809","text":"\u003ctask:success:discrete:True\u003e\nPlace the pink packet inside 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 pink packet inside the tray\n\u003c/PRED\u003e","video":"5165201038502855395.mp4"}
+{"uid":"13978828838470132183","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the beans in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16297266257706913036.mp4"}
+{"uid":"18324477342268715996","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the red packet inside the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the red packet inside 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":"5556935432487193515.mp4"}
+{"uid":"2108213379028662502","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGo to 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":"6055511701782320941.mp4"}
+{"uid":"14423737283685609128","text":"\u003ctask:success:discrete:True\u003e\nPlace the pink packet inside 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 pink packet inside the tray\n\u003c/PRED\u003e","video":"1140979665815737100.mp4"}
+{"uid":"12190876273477037492","text":"\u003ctask:success:discrete:True\u003e\npick up the banana 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 banana from the table\n\u003c/PRED\u003e","video":"11326979390043719418.mp4"}
+{"uid":"13194608346393146878","text":"\u003ctask:success:discrete:True\u003e\nmove the banana 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 the banana out of the room\n\u003c/PRED\u003e","video":"17828483566459728931.mp4"}
+{"uid":"7168876162646817225","text":"\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\u003ctask:planning:freeform\u003e\ncurrent goal is: please return banana from desk at wavelength 1a6 to counter in mk. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return banana from desk at wavelength 1a6 to counter in mk. last 20 steps: 1- pick up the banana from the table 2- pick the banana 3- move the banana out of the room 4- 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 return banana from desk at wavelength 1a6 to counter in mk. last 20 steps: 1- pick up the banana from the table 2- pick the banana 3- move the banana out of the room 4- put the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"3293297256113454290.mp4"}
+{"uid":"12471862141832408272","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":"13374801392205252749.mp4"}
+{"uid":"14397550055230357538","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the green pen 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":"10028820091170853070.mp4"}
+{"uid":"2704874622774724119","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the silver packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3560845157429950052.mp4"}
+{"uid":"2404250777359972813","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink packet inside the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- Place the pink packet inside the tray 2- Place the pink packet inside the tray 3- Place the pink packet inside the tray Q: immediate next step? \u003cPRED\u003eA: Place the pink packet inside the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink packet inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink packet inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- Place the pink packet inside the tray 2- Place the pink packet inside the tray 3- Place the pink packet inside the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink packet inside the tray 2- Place the pink packet inside the tray 3- Place the pink packet inside the tray 4- Place the red packet inside the tray 5- Place the red packet inside the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: Place the pink packet inside the tray\n\u003c/PRED\u003e","video":"2008840675469071298.mp4"}
+{"uid":"5166231720725413518","text":"\u003ctask:success:discrete:True\u003e\nPlace the red packet inside 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 packet inside the tray\n\u003c/PRED\u003e","video":"13854595669601734774.mp4"}
+{"uid":"347937727668123802","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":"371928001282899354.mp4"}
+{"uid":"157890728310680358","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: Place the red packet inside the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- Place the pink packet inside the tray 2- Place the pink packet inside the tray 3- Place the pink packet inside the tray 4- Place the pink packet inside the tray 5- Place the pink packet inside the tray 6- Place the pink packet inside the tray 7- Place the red packet inside the tray 8- Place the red packet inside the tray 9- Place the red packet inside the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red packet inside the tray 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red packet inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red packet inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red packet inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- Place the pink packet inside the tray 2- Place the pink packet inside the tray 3- Place the pink packet inside the tray 4- Place the pink packet inside the tray 5- Place the pink packet inside the tray 6- Place the pink packet inside the tray 7- Place the red packet inside the tray 8- Place the red packet inside the tray 9- Place the red packet inside the tray Q: immediate next step? \u003cPRED\u003eA: Place the red packet inside the tray\n\u003c/PRED\u003e","video":"9474548289926201009.mp4"}
+{"uid":"4499202913396580921","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the red packet inside 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 stack candy into the white tray. last 20 steps: 1- Place the pink packet inside the tray 2- Place the pink packet inside the tray 3- Place the pink packet inside the tray 4- Place the pink packet inside the tray 5- Place the pink packet inside the tray 6- Place the pink packet inside the tray 7- Place the red packet inside the tray 8- Place the red packet inside the tray 9- Place the red packet inside the tray 10- Place the red packet inside 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 stack candy into the white tray. last 20 steps: 1- Place the pink packet inside the tray 2- Place the pink packet inside the tray 3- Place the pink packet inside the tray 4- Place the pink packet inside the tray 5- Place the pink packet inside the tray 6- Place the pink packet inside the tray 7- Place the red packet inside the tray 8- Place the red packet inside the tray 9- Place the red packet inside the tray 10- Place the red packet inside 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 red packet inside the tray\n\u003c/PRED\u003e","video":"5083626630119706152.mp4"}
+{"uid":"1118031423328280088","text":"\u003ctask:success:discrete:True\u003e\nPlace the pink packet inside 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 pink packet inside the tray\n\u003c/PRED\u003e","video":"10593709841459766650.mp4"}
+{"uid":"4683632272316303049","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pink packet inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pink packet inside the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- Place the pink packet inside the tray 2- Place the pink packet inside the tray Q: immediate next step? \u003cPRED\u003eA: Place the pink packet inside the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: Place the pink packet inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pink packet inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- Place the pink packet inside the tray 2- Place the pink packet inside the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pink packet inside the tray 2- Place the pink packet inside the tray 3- Place the pink packet inside the tray 4- Place the pink packet inside the tray 5- Place the red packet inside the tray\n\u003c/PRED\u003e","video":"3211361419073958100.mp4"}
+{"uid":"3306014950391969432","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nmove the banana 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: move the banana out of the room\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: move the banana out of the room\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nmove the banana 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:planning:freeform\u003e\ncurrent goal is: please return banana from desk at wavelength 1a6 to counter in mk. Q: immediate next step? \u003cPRED\u003eA: move the banana out of the room\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return banana from desk at wavelength 1a6 to counter in mk. last 20 steps: 1- pick up the banana from the table 2- pick the banana Q: immediate next step? \u003cPRED\u003eA: move the banana out of the room\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return banana from desk at wavelength 1a6 to counter in mk. last 20 steps: 1- pick up the banana from the table 2- pick the banana Q: next 5 steps? \u003cPRED\u003eA: 1- move the banana out of the room 2- place the banana on the table 3- done\n\u003c/PRED\u003e","video":"224124543423867969.mp4"}
+{"uid":"15070669230500897525","text":"\u003ctask:success:discrete:True\u003e\nPlace the pink packet inside 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 pink packet inside the tray\n\u003c/PRED\u003e","video":"13650681057966769632.mp4"}
+{"uid":"1969465682884224129","text":"\u003ctask:success:discrete:True\u003e\npickup 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: pickup the banana\n\u003c/PRED\u003e","video":"11686816703573194630.mp4"}
+{"uid":"3164933374550101508","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 2 sugar 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":"4400551344357016793.mp4"}
+{"uid":"6938156237109385971","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the banana on another table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the banana on another table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the banana on another table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the banana on another table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return banana from desk at wavelength 1a6 to counter in mk. Q: immediate next step? \u003cPRED\u003eA: put the banana on another table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return banana from desk at wavelength 1a6 to counter in mk. last 20 steps: 1- pick up the banana from the table 2- pick the banana 3- move the banana out of the room Q: immediate next step? \u003cPRED\u003eA: put the banana on another table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return banana from desk at wavelength 1a6 to counter in mk. last 20 steps: 1- pick up the banana from the table 2- pick the banana 3- move the banana out of the room Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana on another table 2- done\n\u003c/PRED\u003e","video":"6065483859685095221.mp4"}
+{"uid":"2341551653105341338","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npickup 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pickup the banana\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pickup the banana\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npickup 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 return banana from desk at wavelength 1a6 to counter in mk. Q: immediate next step? \u003cPRED\u003eA: pickup the banana\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return banana from desk at wavelength 1a6 to counter in mk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pickup the banana\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return banana from desk at wavelength 1a6 to counter in mk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pickup the banana 2- move the banana out of the room 3- place the banana on the table 4- done\n\u003c/PRED\u003e","video":"2230793242454383276.mp4"}
+{"uid":"18163958744031483229","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop candy into organizer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16954442723508423954.mp4"}
+{"uid":"14959251990226663766","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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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:planning:freeform\u003e\ncurrent goal is: please return banana from desk at wavelength 1a6 to counter in mk. 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 return banana from desk at wavelength 1a6 to counter in mk. last 20 steps: 1- pick up the banana from the table 2- pick the banana 3- move the banana out of the room Q: immediate next step? \u003cPRED\u003eA: put the banana on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return banana from desk at wavelength 1a6 to counter in mk. last 20 steps: 1- pick up the banana from the table 2- pick the banana 3- move the banana out of the room Q: next 5 steps? \u003cPRED\u003eA: 1- put the banana on the table 2- done\n\u003c/PRED\u003e","video":"798731031713097054.mp4"}
+{"uid":"11838794805576322568","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red packet inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED: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 packet inside the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- Place the pink packet inside the tray 2- Place the pink packet inside the tray 3- Place the pink packet inside the tray 4- Place the pink packet inside the tray 5- Place the pink packet inside the tray 6- Place the pink packet inside the tray 7- Place the red packet inside the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red packet inside the tray 2- Place the red packet inside the tray 3- Place the red packet inside the tray 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- Place the pink packet inside the tray 2- Place the pink packet inside the tray 3- Place the pink packet inside the tray 4- Place the pink packet inside the tray 5- Place the pink packet inside the tray 6- Place the pink packet inside the tray 7- Place the red packet inside the tray Q: immediate next step? \u003cPRED\u003eA: Place the red packet inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red packet inside the tray\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: Place the red packet inside the tray\n\u003c/PRED\u003e","video":"9338884733780260126.mp4"}
+{"uid":"7510259704727758033","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the banana 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 banana 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 banana from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the banana from the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return banana from desk at wavelength 1a6 to counter in mk. Q: immediate next step? \u003cPRED\u003eA: pick up the banana from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return banana from desk at wavelength 1a6 to counter in mk. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick up the banana from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please return banana from desk at wavelength 1a6 to counter in mk. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the banana from the table 2- pick the banana 3- move the banana out of the room 4- place the banana on the table 5- done\n\u003c/PRED\u003e","video":"8151445205715759009.mp4"}
+{"uid":"10653594537932436142","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":"4598706758765932873.mp4"}
+{"uid":"15846017208123294433","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a pistachio cup on a steel 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":"4094523694325773991.mp4"}
+{"uid":"10918233131474098592","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the pink packet inside the tray\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the pink packet inside 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":"8619140736255040250.mp4"}
+{"uid":"14176888040641312168","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- Place the pink packet inside the tray 2- Place the pink packet inside the tray 3- Place the pink packet inside the tray 4- Place the pink packet inside the tray 5- Place the pink packet inside the tray 6- Place the pink packet inside the tray 7- Place the red packet inside the tray 8- Place the red packet inside the tray Q: next 5 steps? \u003cPRED\u003eA: 1- Place the red packet inside the tray 2- Place the red packet inside the tray 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the red packet inside the tray\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the red packet inside the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please stack candy into the white tray Q: immediate next step? \u003cPRED\u003eA: Place the red packet inside the tray\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the red packet inside the tray\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please stack candy into the white tray. last 20 steps: 1- Place the pink packet inside the tray 2- Place the pink packet inside the tray 3- Place the pink packet inside the tray 4- Place the pink packet inside the tray 5- Place the pink packet inside the tray 6- Place the pink packet inside the tray 7- Place the red packet inside the tray 8- Place the red packet inside the tray Q: immediate next step? \u003cPRED\u003eA: Place the red packet inside the tray\n\u003c/PRED\u003e","video":"10375632565967497153.mp4"}
+{"uid":"2532106167863905161","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":"6563344762312757683.mp4"}
+{"uid":"17354500455223493146","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":"16843072284554044406.mp4"}
+{"uid":"8153215247056170592","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":"3766029368199773282.mp4"}
+{"uid":"10579326956096754613","text":"\u003ctask:success:discrete:True\u003e\nPlace the pink packet inside 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 pink packet inside the tray\n\u003c/PRED\u003e","video":"4897594103758928114.mp4"}
+{"uid":"7170889627193376286","text":"\u003ctask:success:discrete:True\u003e\nplace the banana on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the banana on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please return banana from desk at wavelength 1a6 to counter in mk. Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please return banana from desk at wavelength 1a6 to counter in mk. last 20 steps: 1- pick up the banana from the table 2- pick the banana 3- move the banana out of the room 4- place 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 return banana from desk at wavelength 1a6 to counter in mk. last 20 steps: 1- pick up the banana from the table 2- pick the banana 3- move the banana out of the room 4- place the banana on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"10322590492948994463.mp4"}
+{"uid":"11008143289856102469","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right 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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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","video":"8737165001904813096.mp4"}
+{"uid":"9149285834005787974","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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: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 blue chip in left bowl and place black and white chip bag in right bowl. 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:planning:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl 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","video":"10855503141252379128.mp4"}
+{"uid":"10486259864575246494","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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:success:discrete:False\u003e\nput 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 blue chip in left bowl and place black and white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put 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:planning:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: put black  packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put black  packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put 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 black  packet in the bowl\n\u003c/PRED\u003e","video":"12887002033365410630.mp4"}
+{"uid":"10466797867883144033","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":"9261158880571900349.mp4"}
+{"uid":"14610630935114670919","text":"\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 blue chip in left bowl and place black and white chip bag in right bowl. 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 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:planning:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. last 20 steps: 1- put packet in the tray 2- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e","video":"13678542196736949180.mp4"}
+{"uid":"13603689279106094526","text":"\u003ctask:success:discrete:True\u003e\nPut an apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put an apple in the bowl\n\u003c/PRED\u003e","video":"1473128783476420574.mp4"}
+{"uid":"1554466783309662104","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put fruit into bowl Q: immediate next step? \u003cPRED\u003eA: Put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put an apple in the 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 bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put an apple in the bowl 2- place orange in the bowl 3- place orange in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple into the bowl Q: immediate next step? \u003cPRED\u003eA: Put an apple in the bowl\n\u003c/PRED\u003e","video":"9954837509352596707.mp4"}
+{"uid":"17338489076016912029","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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- 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: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:planning:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right 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 blue chip in left bowl and place black and white chip bag in right bowl. 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","video":"12055453403820848465.mp4"}
+{"uid":"6008720845581382764","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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: place blue chip in left bowl and place black and white chip bag in right bowl. 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: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\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"4137370388982755942.mp4"}
+{"uid":"5537529674991914912","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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- done\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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"11512980793709353810.mp4"}
+{"uid":"7573760382720015883","text":"\u003ctask:success:discrete:False\u003e\nput white chip 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 white chip packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. last 20 steps: 1- put packet in the tray Q: next 5 steps? \u003cPRED\u003eA: 1- put white chip 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 white chip packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: put white chip packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white chip 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 blue chip in left bowl and place black and white chip bag in right bowl. last 20 steps: 1- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put white chip packet in the bowl\n\u003c/PRED\u003e","video":"1298278312812971177.mp4"}
+{"uid":"6747431014351155958","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput knifes 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":"811187496746256013.mp4"}
+{"uid":"14521738401724846499","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack lids 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":"5618170682812729694.mp4"}
+{"uid":"9610288622582713004","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput 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:affordance:discriminative:discrete:True\u003e\nput 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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 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:planning:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: put 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 black packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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 black packet in the bowl\n\u003c/PRED\u003e","video":"6667967098797333706.mp4"}
+{"uid":"13813040408535913107","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done with the coconut water. Can you recycle the can and bring me another one?. last 20 steps: 1- Put the can in the dustbin 2- Open the fridge 3- Put the can on the table Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the can on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done with the coconut water. Can you recycle the can and bring me another one?. last 20 steps: 1- Put the can in the dustbin 2- Open the fridge 3- Put the can on the table Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done with the coconut water. Can you recycle the can and bring me another one? Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e","video":"1410375296420857994.mp4"}
+{"uid":"13544484368262792669","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":"8081274501865913798.mp4"}
+{"uid":"11482671027709220309","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 blue chip in left bowl and place black and white chip bag in right 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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 bowl\n\u003c/PRED\u003e","video":"9327253360785859658.mp4"}
+{"uid":"10509538484622590999","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":"6747663714995757059.mp4"}
+{"uid":"12404345340340513407","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":"18061537445811990041.mp4"}
+{"uid":"8106695267183302777","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput chickpea in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16781016112434562926.mp4"}
+{"uid":"155528541001795041","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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: place blue chip in left bowl and place black and white chip bag in right 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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\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":"5693993499269778318.mp4"}
+{"uid":"4760913491476268227","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the white bottle into 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":"14944816677291950014.mp4"}
+{"uid":"15354087659385752217","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace chocolate in the left cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5433130599723979916.mp4"}
+{"uid":"10493853756610154537","text":"\u003ctask:success:discrete:False\u003e\nput the orange into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange into the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple into the bowl 2- place apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into the bowl 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple into the bowl 2- place apple in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fruit into bowl Q: immediate next step? \u003cPRED\u003eA: put the orange into the 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 bowl\n\u003c/PRED\u003e","video":"8891779171022650608.mp4"}
+{"uid":"13449967936753423330","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":"6775064665772602641.mp4"}
+{"uid":"5305329385006415393","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":"4063825711970174000.mp4"}
+{"uid":"9453243046534052841","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"4442219687443123318.mp4"}
+{"uid":"5614120827898081527","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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":"16513483894512242800.mp4"}
+{"uid":"14573875543561801318","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop sugar packet 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":"10271305449054609229.mp4"}
+{"uid":"8479032152007850761","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"15475121247589192139.mp4"}
+{"uid":"15232535941893684943","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the can in the dustbin\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the can 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":"11349489430409688578.mp4"}
+{"uid":"6942210081681305257","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nsweep the blue chip 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":"14562892243053723896.mp4"}
+{"uid":"5148684567809043753","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the last potted plant top left side of the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput a brown 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":"12793538182375927765.mp4"}
+{"uid":"14031747877908466315","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple into the bowl 2- place apple in the bowl 3- place orange in the bowl 4- put the orange into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fruit into bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple into the bowl 2- place apple in the bowl 3- place orange in the bowl 4- put the orange into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange into the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange into the bowl\n\u003c/PRED\u003e","video":"3776211471020093680.mp4"}
+{"uid":"14367741092826920912","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the bowl 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":"980318759357058068.mp4"}
+{"uid":"13356676235924209477","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":"4724039620698427338.mp4"}
+{"uid":"17268861397556475927","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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 fruit into bowl Q: immediate next step? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place apple in the bowl 2- place apple in the bowl 3- place orange in the bowl 4- place orange in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e","video":"5851802398105881102.mp4"}
+{"uid":"11849311107210923798","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the black box 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":"1685405668035019960.mp4"}
+{"uid":"1851053406311673397","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow 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":"17629535427082108081.mp4"}
+{"uid":"8534353887702884318","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the orange cable on 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":"16757842021365203411.mp4"}
+{"uid":"18339521229931338044","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple into the bowl Q: immediate next step? \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: put fruit into bowl. last 20 steps: 1- put the apple into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the apple into the bowl 2- place orange in the bowl 3- place orange in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the apple into the bowl\n\u003c/PRED\u003e\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: put fruit into bowl Q: immediate next step? \u003cPRED\u003eA: put the apple into the bowl\n\u003c/PRED\u003e","video":"766142677503471305.mp4"}
+{"uid":"5469839969770531217","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":"4548314328406663713.mp4"}
+{"uid":"1021064676795466324","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput cream 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 cream packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cream 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 blue chip in left bowl and place black and white chip bag in right bowl. 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 cream packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cream packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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 cream packet in the bowl 2- put packet in the tray 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: put cream packet in the bowl\n\u003c/PRED\u003e","video":"4547154543751592256.mp4"}
+{"uid":"8916748891124984625","text":"\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 blue chip in left bowl and place black and white chip bag in right bowl. 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 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:planning:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right 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 blue chip in left bowl and place black and white chip bag in right bowl. 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 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 packet in bowl\n\u003c/PRED\u003e","video":"6738780963585612288.mp4"}
+{"uid":"13419543649264458723","text":"\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\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the apple into the bowl\n\u003c/PRED\u003e","video":"14671021315160269109.mp4"}
+{"uid":"1178011123183482798","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"18083893751064897020.mp4"}
+{"uid":"3690093140818562710","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple into the bowl 2- place apple in the bowl 3- place orange in the bowl 4- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fruit into bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple into the bowl 2- place apple in the bowl 3- place orange in the bowl 4- place orange in the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace 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":"4874258602204584592.mp4"}
+{"uid":"4089149463550428138","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the chips packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12666574557360299770.mp4"}
+{"uid":"1400395389120837941","text":"\u003ctask:success:discrete:False\u003e\nPut an apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put an apple in the bowl 2- place apple in the bowl 3- place orange in the bowl 4- place orange in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut an apple in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fruit into bowl Q: immediate next step? \u003cPRED\u003eA: Put an apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put an apple in the bowl\n\u003c/PRED\u003e","video":"5260197892582808791.mp4"}
+{"uid":"13963668529462013716","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple into the bowl 2- place apple in the bowl 3- put the orange into the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fruit into bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple into the bowl 2- place apple in the bowl 3- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange into the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange into the bowl\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange into the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fruit into bowl Q: immediate next step? \u003cPRED\u003eA: put the orange into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple into the bowl 2- place apple in the bowl 3- put the orange into the bowl Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange into the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange into the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple into the bowl 2- place apple in the bowl 3- place orange in the bowl Q: immediate next step? \u003cPRED\u003eA: put the orange into the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange 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":"10024084663184775634.mp4"}
+{"uid":"16370713939281871517","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":"11096806193475062615.mp4"}
+{"uid":"7103685106079168294","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the brown paper cup from the counter top Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9319787284468942174.mp4"}
+{"uid":"4351932596193301207","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput banana on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7203225282982289159.mp4"}
+{"uid":"15150037187884944560","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut an 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 an orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fruit into bowl Q: immediate next step? \u003cPRED\u003eA: Put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple into the bowl 2- place apple in the bowl Q: immediate next step? \u003cPRED\u003eA: Put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple into the bowl 2- place apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put an 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 an orange in the 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 bowl\n\u003c/PRED\u003e","video":"8878416758024371430.mp4"}
+{"uid":"16815577682050336594","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":"14905141949302011724.mp4"}
+{"uid":"13682327247642142244","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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done with the coconut water. Can you recycle the can and bring me another one?. last 20 steps: 1- Put the can in the dustbin 2- Open the fridge Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can on the table 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I am done with the coconut water. Can you recycle the can and bring me another one?. last 20 steps: 1- Put the can in the dustbin 2- Open the fridge Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask: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: I am done with the coconut water. Can you recycle the can and bring me another one? Q: immediate next step? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can on the table\n\u003c/PRED\u003e","video":"12215624646317147936.mp4"}
+{"uid":"13759144494221080617","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":"12625738686492048588.mp4"}
+{"uid":"16378923457402228964","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 blue chip in left bowl and place black and white chip bag in right bowl Q: immediate next step? \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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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 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 blue chip in left bowl and place black and white chip bag in right bowl. 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 bowl 2- done\n\u003c/PRED\u003e","video":"2705486979421865170.mp4"}
+{"uid":"2086186757471044635","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":"2248425944061441190.mp4"}
+{"uid":"4833116975300493964","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":"15001563423732999792.mp4"}
+{"uid":"6984477626055556437","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple into the bowl 2- place apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place orange in the bowl 2- place orange in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple into the bowl 2- place apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace orange in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fruit into bowl Q: immediate next step? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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":"5534011795709682326.mp4"}
+{"uid":"3704018276140122701","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the cable in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1072906407450541017.mp4"}
+{"uid":"8179817415745164766","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":"11438552334731453018.mp4"}
+{"uid":"11359568110025447115","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: put fruit into bowl Q: immediate next step? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple into the bowl 2- place apple in the bowl 3- place orange in the bowl Q: immediate next step? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple into the bowl 2- place apple in the bowl 3- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place orange in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place orange in the bowl\n\u003c/PRED\u003e","video":"787656582322729671.mp4"}
+{"uid":"6147834309224094384","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \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:planning:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right 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 blue chip in left bowl and place black and white chip bag in right bowl. 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 bowl\n\u003c/PRED\u003e","video":"10933271856036547200.mp4"}
+{"uid":"10304418390783613102","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput redbull can on table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10455909216674633503.mp4"}
+{"uid":"18363460509542032982","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 blue chip in left bowl and place black and white chip bag in right 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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 bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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 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: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","video":"15913222363011200372.mp4"}
+{"uid":"6625199474602898573","text":"\u003ctask:success:discrete:True\u003e\nplace apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e","video":"6716391839835939109.mp4"}
+{"uid":"15968253700144345733","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":"13540744143926746702.mp4"}
+{"uid":"9705519873620068214","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:planning:freeform\u003e\ncurrent goal is: I am done with the coconut water. Can you recycle the can and bring me another one? Q: immediate next step? \u003cPRED\u003eA: Open the fridge\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done with the coconut water. Can you recycle the can and bring me another one?. last 20 steps: 1- Put the can in the dustbin Q: next 5 steps? \u003cPRED\u003eA: 1- Open the fridge 2- Put the can on the table 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nOpen the fridge Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask: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: I am done with the coconut water. Can you recycle the can and bring me another one?. last 20 steps: 1- Put the can in the dustbin Q: immediate next step? \u003cPRED\u003eA: Open the fridge\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Open the fridge\n\u003c/PRED\u003e","video":"12619271002240607030.mp4"}
+{"uid":"5454271661044146262","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bowl 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":"17547229540918238246.mp4"}
+{"uid":"4734819614616578171","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 blue chip in left bowl and place black and white chip bag in right bowl. last 20 steps: 1- 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: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: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 blue chip in left bowl and place black and white chip bag in right 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 blue chip in left bowl and place black and white chip bag in right bowl. last 20 steps: 1- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e","video":"12011983545960310754.mp4"}
+{"uid":"11705460391585089425","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I am done with the coconut water. Can you recycle the can and bring me another one?. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put the can in the dustbin 2- Open the fridge 3- Put the can on the table 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the can in the dustbin Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I am done with the coconut water. Can you recycle the can and bring me another one? Q: immediate next step? \u003cPRED\u003eA: Put the can in the dustbin\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the can in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the can 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: I am done with the coconut water. Can you recycle the can and bring me another one?. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put the can in the dustbin\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the can in the dustbin\n\u003c/PRED\u003e","video":"17676075783690109943.mp4"}
+{"uid":"6698357117885343476","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put cream packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput cream 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 cream packet in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: put cream packet in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput cream 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 blue chip in left bowl and place black and white chip bag in right bowl 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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 cream packet in the bowl\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: place blue chip in left bowl and place black and white chip bag in right bowl. 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 cream packet in the bowl 2- put packet in the tray 3- put packet in the tray 4- done\n\u003c/PRED\u003e","video":"14224999233420089798.mp4"}
+{"uid":"7414941892689054688","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":"9045408375960992550.mp4"}
+{"uid":"16387779160276879639","text":"\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 blue chip in left bowl and place black and white chip bag in right bowl. 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 bowl 2- put packet in the tray 3- 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:planning:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right 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 blue chip in left bowl and place black and white chip bag in right bowl. 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 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","video":"4004921315004289694.mp4"}
+{"uid":"945206773117886018","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple into the bowl 2- place apple in the bowl 3- place orange in the bowl Q: immediate next step? \u003cPRED\u003eA: Put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fruit into bowl Q: immediate next step? \u003cPRED\u003eA: Put an orange in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut an orange in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: 1- put the apple into the bowl 2- place apple in the bowl 3- place orange in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- Put an orange in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut an 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":"11069971745763013527.mp4"}
+{"uid":"825547350122816990","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nLift the red snack pack from the table 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":"6689178309732711430.mp4"}
+{"uid":"362379749848253637","text":"\u003ctask:success:discrete:False\u003e\nput 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:planning:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: put 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 white packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put white packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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 white 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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 white packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput white packet in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6688208346844827439.mp4"}
+{"uid":"9816705557036338505","text":"\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:planning:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right 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: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 blue chip in left bowl and place black and white chip bag in right bowl. last 20 steps: none 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet in bowl\n\u003c/PRED\u003e","video":"6500518061863740937.mp4"}
+{"uid":"2128486214982444950","text":"\u003ctask:success:discrete:False\u003e\nput blue chip 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 blue chip packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blue chip packet in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put blue chip packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blue chip 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 blue chip in left bowl and place black and white chip bag in right bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put blue chip 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:planning:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: put blue chip packet in the bowl\n\u003c/PRED\u003e","video":"6958486267173283421.mp4"}
+{"uid":"2202408547694144557","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl 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\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 blue chip in left bowl and place black and white chip bag in right bowl. last 20 steps: none 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: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: place blue chip in left bowl and place black and white chip bag in right bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"17241475858160648382.mp4"}
+{"uid":"5302269526307886194","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: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 blue chip in left bowl and place black and white chip bag in right bowl. 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\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. last 20 steps: 1- put packet in the tray Q: immediate next step? \u003cPRED\u003eA: put packet in the tray\n\u003c/PRED\u003e","video":"10664222242304152818.mp4"}
+{"uid":"11357806433137971500","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the tea 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":"3566902903742175121.mp4"}
+{"uid":"16487606933525534541","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl 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: place blue chip in left bowl and place black and white chip bag in right bowl. 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- 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: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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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","video":"2769993463806170403.mp4"}
+{"uid":"3076172718602879794","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic spoon in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13979307217069293608.mp4"}
+{"uid":"11360570348292829682","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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 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 black packet in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput 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 blue chip in left bowl and place black and white chip bag in right bowl Q: immediate next step? \u003cPRED\u003eA: put black packet in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put black packet in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: place blue chip in left bowl and place black and white chip bag in right bowl. 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 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","video":"6258573797671976265.mp4"}
+{"uid":"3866851964402287905","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: put fruit into bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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 fruit into bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place apple in the bowl 2- place orange in the bowl 3- place orange in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: put fruit into bowl Q: immediate next step? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e","video":"11774634577478096843.mp4"}
+{"uid":"13513069429591386835","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop orange into cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop orange into 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":"12792837455977471083.mp4"}
+{"uid":"7270654415355845740","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- drop orange into cup 2- drop orange into cup 3- drop knife into cup Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- drop orange into cup 2- drop orange into cup 3- drop knife into cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic knife in the paper cup 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic knife in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic knife in the paper cup\n\u003c/PRED\u003e","video":"1919729997469176729.mp4"}
+{"uid":"6277567008632148138","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the black container 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":"13576575288814791319.mp4"}
+{"uid":"17215202594155543602","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the brown packet in white tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17568177432209726638.mp4"}
+{"uid":"13384782445962673685","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in right cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4045897616383758724.mp4"}
+{"uid":"11829462489785459281","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":"14966034074656723419.mp4"}
+{"uid":"469963927622199164","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: drop orange into cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop orange into 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: drop orange into cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: drop orange into cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- drop orange into cup 2- drop orange into cup 3- drop knife into cup 4- drop knife into cup 5- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop orange into 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: drop orange into cup\n\u003c/PRED\u003e","video":"5008508799602974148.mp4"}
+{"uid":"15911743968926164028","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please scoop the snack and place into the bowl. last 20 steps: 1- grab the spatula 2- put the almonds in the cup Q: immediate next step? \u003cPRED\u003eA: put the spatula in the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the spatula in the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please scoop the snack and place into the bowl. last 20 steps: 1- grab the spatula 2- put the almonds in the cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the spatula 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 spatula in the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the spatula in the jar\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the spatula in the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please scoop the snack and place into the bowl Q: immediate next step? \u003cPRED\u003eA: put the spatula in the jar\n\u003c/PRED\u003e","video":"4264824715465760300.mp4"}
+{"uid":"9076629747045733862","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please scoop the snack and place into the bowl Q: immediate next step? \u003cPRED\u003eA: grab the spatula\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please scoop the snack and place into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: grab the spatula\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ngrab the spatula Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please scoop the snack and place into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- grab the spatula 2- put the almonds in the cup 3- put the spatula in the jar 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: grab the spatula\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: grab the spatula\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ngrab the spatula Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10056134962965994102.mp4"}
+{"uid":"13774352037289801509","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please scoop the snack and place into the bowl Q: immediate next step? \u003cPRED\u003eA: put the scooper into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the scooper 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 scooper into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please scoop the snack and place into the bowl. last 20 steps: 1- grab the spatula Q: next 5 steps? \u003cPRED\u003eA: 1- put the scooper into the jar 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the scooper into the jar\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please scoop the snack and place into the bowl. last 20 steps: 1- grab the spatula Q: immediate next step? \u003cPRED\u003eA: put the scooper into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the scooper into the jar\n\u003c/PRED\u003e","video":"2273070297632565082.mp4"}
+{"uid":"105195918640089575","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Put orange in a cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut orange in 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:success:discrete:False\u003e\nPut orange in 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:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: Put orange in a cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Put orange in a cup 2- drop orange into cup 3- drop knife into cup 4- drop knife into cup 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put orange in a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put orange in a cup\n\u003c/PRED\u003e","video":"10178183479105000359.mp4"}
+{"uid":"9305585013228500931","text":"\u003ctask:success:discrete:False\u003e\ndrop knife into 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\ndrop knife into 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: drop knife into cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop knife into cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- drop orange into cup 2- drop orange into cup Q: immediate next step? \u003cPRED\u003eA: drop knife into cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- drop orange into cup 2- drop orange into cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop knife into cup 2- drop knife into cup 3- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: drop knife into cup\n\u003c/PRED\u003e","video":"7432849662130952080.mp4"}
+{"uid":"3779630521781801645","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":"2786901835798564635.mp4"}
+{"uid":"9408528384684766655","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place apple in the bowl 2- place apple in the bowl 3- place pear in the bowl 4- place pear in the bowl 5- place pear in the bowl 6- place pear in the bowl 7- place apple in the bowl 8- place pear in the bowl Q: immediate next step? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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: Place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place apple in the bowl 2- place apple in the bowl 3- place pear in the bowl 4- place pear in the bowl 5- place pear in the bowl 6- place pear in the bowl 7- place apple in the bowl 8- place pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place apple in the bowl 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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":"18106415278892147786.mp4"}
+{"uid":"328576855822565437","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":"9954124159934774720.mp4"}
+{"uid":"17982614623621981891","text":"\u003ctask:success:discrete:True\u003e\ngrab the spatula Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: grab the spatula\n\u003c/PRED\u003e","video":"1958647944999356874.mp4"}
+{"uid":"9880723160863105747","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":"11845300860694080592.mp4"}
+{"uid":"7238702463880822197","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: drop orange into cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop orange into 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 prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- drop orange into cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop orange into cup 2- drop knife into cup 3- drop knife into cup 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop orange into cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop orange into 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 prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- drop orange into cup Q: immediate next step? \u003cPRED\u003eA: drop orange into cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop orange into cup\n\u003c/PRED\u003e","video":"14687547585708647465.mp4"}
+{"uid":"3623174084117397877","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the yellow packet on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9326280580959088621.mp4"}
+{"uid":"7353763231825887846","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":"16170382937708742912.mp4"}
+{"uid":"7976561788185880874","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place apple in the bowl 2- place pear in the bowl 3- place pear in the bowl 4- place pear in the bowl 5- place pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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":"9665197968141225083.mp4"}
+{"uid":"2651460957574147774","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: drop knife into cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\ndrop knife into 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":"2315705040524376963.mp4"}
+{"uid":"16768018534013926134","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- place apple in the bowl 2- place apple in the bowl 3- place pear in the bowl 4- place pear in the bowl 5- place pear in the bowl\n\u003c/PRED\u003e","video":"13230417245276814161.mp4"}
+{"uid":"14385524622958335121","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick the scooper with the almonds Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please scoop the snack and place into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: pick the scooper with the almonds\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please scoop the snack and place into the bowl Q: immediate next step? \u003cPRED\u003eA: pick the scooper with the almonds\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please scoop the snack and place into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- pick the scooper with the almonds 2- put the spatula in the jar 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the scooper with the almonds\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the scooper with the almonds\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the scooper with the almonds Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15358085572562287272.mp4"}
+{"uid":"5077647268978916286","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":"18418932450738516951.mp4"}
+{"uid":"11826760216577654848","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place apple in the bowl 2- place apple in the bowl 3- place pear in the bowl 4- place pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place pear in the bowl 2- place pear in the bowl 3- place apple in the bowl 4- place pear in the bowl 5- place apple in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pear in the bowl\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: place pear in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place apple in the bowl 2- place apple in the bowl 3- place pear in the bowl 4- place pear in the bowl Q: immediate next step? \u003cPRED\u003eA: place pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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":"12535616570029380921.mp4"}
+{"uid":"794332021016761877","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput packet in tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8271399846381133373.mp4"}
+{"uid":"5131528202515552061","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange packet into the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2573515433965304977.mp4"}
+{"uid":"15985058010804232425","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrab the apple Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4817527818718925796.mp4"}
+{"uid":"2210960987176790264","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place apple in the bowl 2- place apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: Place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: place pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pear in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place apple in the bowl 2- place apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place pear in the bowl 2- place pear in the bowl 3- place pear in the bowl 4- place pear in the bowl 5- place apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18162952160030560512.mp4"}
+{"uid":"12961893129552638488","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the almonds in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the almonds 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":"17590986899895783089.mp4"}
+{"uid":"16516985317439975481","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: place pear in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace pear in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place apple in the bowl 2- place apple in the bowl 3- place pear in the bowl 4- place pear in the bowl 5- place pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place pear in the bowl 2- place apple in the bowl 3- place pear in the bowl 4- place apple in the bowl 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place apple in the bowl 2- place apple in the bowl 3- place pear in the bowl 4- place pear in the bowl 5- place pear in the bowl Q: immediate next step? \u003cPRED\u003eA: place pear in the bowl\n\u003c/PRED\u003e","video":"9722187168903596957.mp4"}
+{"uid":"6873494630889906175","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place apple in the bowl 2- place apple in the bowl 3- place pear in the bowl 4- place pear in the bowl 5- place pear in the bowl 6- place pear in the bowl 7- place apple in the bowl Q: immediate next step? \u003cPRED\u003eA: place pear in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place apple in the bowl 2- place apple in the bowl 3- place pear in the bowl 4- place pear in the bowl 5- place pear in the bowl 6- place pear in the bowl 7- place apple in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place pear in the bowl 2- place apple in the bowl 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace pear in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: place pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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":"5054485301818994445.mp4"}
+{"uid":"16649243394429893624","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the sugar packet in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1908610430106095347.mp4"}
+{"uid":"9209529477811627406","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the almonds 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 the almonds in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please scoop the snack and place into the bowl. last 20 steps: 1- grab the spatula Q: next 5 steps? \u003cPRED\u003eA: 1- Put the almonds in the cup 2- put the spatula in the jar 3- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the almonds in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the almonds in the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please scoop the snack and place into the bowl. last 20 steps: 1- grab the spatula Q: immediate next step? \u003cPRED\u003eA: Put the almonds in the cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please scoop the snack and place into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the almonds in the cup\n\u003c/PRED\u003e","video":"2425997429686599235.mp4"}
+{"uid":"5966759268132661050","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":"8472947746687413768.mp4"}
+{"uid":"5446873289357137056","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red 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":"72956073635737968.mp4"}
+{"uid":"2991238523292225149","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the sticky notes in the container Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6803620273573062768.mp4"}
+{"uid":"15958550765123710732","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop knife into cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop knife into cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop knife into 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 prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- drop orange into cup 2- drop orange into cup 3- drop knife into cup Q: next 5 steps? \u003cPRED\u003eA: 1- drop knife into cup 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- drop orange into cup 2- drop orange into cup 3- drop knife into cup Q: immediate next step? \u003cPRED\u003eA: drop knife into cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: drop knife into cup\n\u003c/PRED\u003e","video":"1991915702115441987.mp4"}
+{"uid":"15718864407355669704","text":"\u003ctask:success:discrete:False\u003e\nPut the scooper into the jar Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please scoop the snack and place into the bowl. last 20 steps: 1- grab the spatula Q: next 5 steps? \u003cPRED\u003eA: 1- Put the scooper into the jar 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please scoop the snack and place into the bowl. last 20 steps: 1- grab the spatula Q: immediate next step? \u003cPRED\u003eA: Put the scooper into the jar\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the scooper into the jar\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the scooper into the jar\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please scoop the snack and place into the bowl Q: immediate next step? \u003cPRED\u003eA: Put the scooper into the jar\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the scooper 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":"6684322864048878416.mp4"}
+{"uid":"11077616017011796566","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put plastic knife  in a cup\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the plastic knife in the paper 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:success:discrete:True\u003e\nPut plastic knife  in a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13596027231288503202.mp4"}
+{"uid":"5553330838574099024","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the box on the upper shelf Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2139094262817915196.mp4"}
+{"uid":"3254702926494419533","text":"\u003ctask:success:discrete:False\u003e\nput the orange in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- drop orange into cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the paper cup 2- drop knife into cup 3- drop knife into cup 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- drop orange into cup Q: immediate next step? \u003cPRED\u003eA: put the orange in the paper cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: put the orange in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the paper cup\n\u003c/PRED\u003e","video":"10423978596921370040.mp4"}
+{"uid":"4812102615508627956","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place apple in the bowl 2- place apple in the bowl 3- place pear in the bowl 4- place pear in the bowl 5- place pear in the bowl 6- place pear in the bowl Q: immediate next step? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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: Place the fruits in the bowl. last 20 steps: 1- place apple in the bowl 2- place apple in the bowl 3- place pear in the bowl 4- place pear in the bowl 5- place pear in the bowl 6- place pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place apple in the bowl 2- place pear in the bowl 3- place apple in the bowl 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place apple in the bowl\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace apple in the bowl Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8574148659880023962.mp4"}
+{"uid":"5407955487747577196","text":"\u003ctask:success:discrete:False\u003e\nPick the scooper with the almonds Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please scoop the snack and place into the bowl. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the scooper with the almonds 2- put the spatula in the jar 3- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the scooper with the almonds\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the scooper with the almonds Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 scoop the snack and place into the bowl Q: immediate next step? \u003cPRED\u003eA: Pick the scooper with the almonds\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the scooper with the almonds\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please scoop the snack and place into the bowl. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Pick the scooper with the almonds\n\u003c/PRED\u003e","video":"16624736269572056754.mp4"}
+{"uid":"1221318950878687087","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the almonds into the \ncup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\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 almonds into the \ncup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the almonds into the \ncup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please scoop the snack and place into the bowl. last 20 steps: 1- grab the spatula Q: next 5 steps? \u003cPRED\u003eA: 1- put the almonds into the \ncup 2- put the spatula in the jar 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please scoop the snack and place into the bowl. last 20 steps: 1- grab the spatula Q: immediate next step? \u003cPRED\u003eA: put the almonds into the \ncup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please scoop the snack and place into the bowl Q: immediate next step? \u003cPRED\u003eA: put the almonds into the \ncup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the almonds into the \ncup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12294300214950920880.mp4"}
+{"uid":"8152640860077907845","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- drop orange into cup 2- drop orange into cup Q: next 5 steps? \u003cPRED\u003eA: 1- put the plastic knife in the paper cup 2- drop knife into cup 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- drop orange into cup 2- drop orange into cup Q: immediate next step? \u003cPRED\u003eA: put the plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the plastic knife in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the plastic knife in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the plastic knife in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the plastic knife in the paper cup\n\u003c/PRED\u003e","video":"6417675765061015817.mp4"}
+{"uid":"12234562344374024168","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":"3337567393052969161.mp4"}
+{"uid":"4064471084500237335","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- drop orange into cup 2- drop orange into cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put plastic knife  in a cup 2- drop knife into cup 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- drop orange into cup 2- drop orange into cup Q: immediate next step? \u003cPRED\u003eA: Put plastic knife  in a cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut plastic knife  in 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:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: Put plastic knife  in a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put plastic knife  in a cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut plastic knife  in 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: Put plastic knife  in a cup\n\u003c/PRED\u003e","video":"16425244029091008241.mp4"}
+{"uid":"8352930254999249782","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace a orange 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":"12747942554471713050.mp4"}
+{"uid":"2879249593217504577","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: Put plastic knife in a cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- drop orange into cup 2- drop orange into cup 3- drop knife into cup Q: immediate next step? \u003cPRED\u003eA: Put plastic knife in a cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut plastic knife in 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: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- drop orange into cup 2- drop orange into cup 3- drop knife into cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put plastic knife in a cup 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put plastic knife in a cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut plastic knife in 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put plastic knife in a cup\n\u003c/PRED\u003e","video":"17217960723456992470.mp4"}
+{"uid":"18419761339281546309","text":"\u003ctask:success:discrete:True\u003e\ndrop orange into 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: drop orange into cup\n\u003c/PRED\u003e","video":"1212189060995185455.mp4"}
+{"uid":"15012806450196524308","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":"15338919883048491831.mp4"}
+{"uid":"5037258264034905722","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":"5203044360425306737.mp4"}
+{"uid":"10953276274814881087","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":"546944228747606010.mp4"}
+{"uid":"530448181175560822","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. Q: immediate next step? \u003cPRED\u003eA: place pear in the bowl\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place apple in the bowl 2- place apple in the bowl 3- place pear in the bowl Q: next 5 steps? \u003cPRED\u003eA: 1- place pear in the bowl 2- place pear in the bowl 3- place pear in the bowl 4- place apple in the bowl 5- place pear in the bowl\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place pear in the bowl\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place the fruits in the bowl. last 20 steps: 1- place apple in the bowl 2- place apple in the bowl 3- place pear in the bowl Q: immediate next step? \u003cPRED\u003eA: place pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place pear in the bowl\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace 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":"7049720756206086222.mp4"}
+{"uid":"16499872770267906094","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the silver packet in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4297234899638171780.mp4"}
+{"uid":"17660729503267535641","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":"3523731780194653382.mp4"}
+{"uid":"10721457882308517543","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- drop orange into cup Q: immediate next step? \u003cPRED\u003eA: Put second orange in a cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put second orange in a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put second orange in a cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut second orange in 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: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: 1- drop orange into cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put second orange in a cup 2- drop knife into cup 3- drop knife into cup 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut second orange in 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:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: Put second orange in a cup\n\u003c/PRED\u003e","video":"6019996785345437429.mp4"}
+{"uid":"14331783968447966287","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange in the paper cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls Q: immediate next step? \u003cPRED\u003eA: put the orange in the paper cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange in the paper cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange in the paper cup 2- drop orange into cup 3- drop knife into cup 4- drop knife into cup 5- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange in the paper cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please prepare two bowls with an orange in it and place a knife in both bowls. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: put the orange in the paper cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange in the paper cup\n\u003c/PRED\u003e","video":"3169675196952753652.mp4"}
+{"uid":"2509938624633388572","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11670122546315901119.mp4"}
+{"uid":"3500906408387456938","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":"10425968352609791282.mp4"}
+{"uid":"2501379202710491807","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the almonds in the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the almonds 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 scoop the snack and place into the bowl Q: immediate next step? \u003cPRED\u003eA: put the almonds in the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the almonds in the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the almonds in the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please scoop the snack and place into the bowl. last 20 steps: 1- grab the spatula Q: next 5 steps? \u003cPRED\u003eA: 1- put the almonds in the cup 2- put the spatula in the jar 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please scoop the snack and place into the bowl. last 20 steps: 1- grab the spatula Q: immediate next step? \u003cPRED\u003eA: put the almonds in the cup\n\u003c/PRED\u003e","video":"16284795941400499919.mp4"}
+{"uid":"15233426484052081447","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the book lie 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":"6176667576954918676.mp4"}
+{"uid":"10300679792470237705","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose 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":"18322518973517543559.mp4"}
+{"uid":"287095727829655086","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":"11139912196040651884.mp4"}
+{"uid":"9906266292295437585","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: Place red noodle back into the box Q: immediate next step? \u003cPRED\u003eA: Place the pool noodle inside the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pool noodle inside the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pool noodle inside the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pool noodle inside the carton\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place red noodle back into the box. last 20 steps: 1- Pick the red pool noodle from the carton 2- Move toward the carton box with the pool noodle Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pool noodle inside the carton 2- Pick the red pool noodle from the carton 3- Move toward the carton box with the pool noodle 4- Place the pool noodle inside the carton 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place red noodle back into the box. last 20 steps: 1- Pick the red pool noodle from the carton 2- Move toward the carton box with the pool noodle Q: immediate next step? \u003cPRED\u003eA: Place the pool noodle inside the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pool noodle inside the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4443738745850922658.mp4"}
+{"uid":"6777073262205374646","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: Put the hexagon in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the hexagon in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box Q: immediate next step? \u003cPRED\u003eA: Put the hexagon in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the hexagon in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put blocks in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the hexagon 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 hexagon in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the hexagon 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":"2380078543241925476.mp4"}
+{"uid":"14007240126693503662","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop it Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8030985489748958894.mp4"}
+{"uid":"10217838353453822267","text":"\u003ctask:success:discrete:False\u003e\nPut the octagon 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 octagon 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: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box Q: immediate next step? \u003cPRED\u003eA: Put the octagon in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: Put the octagon in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the octagon in the box 2- put block in the box 3- put block in the box 4- put blocks in the box 5- put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the octagon in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the octagon in the box\n\u003c/PRED\u003e","video":"7102491815984901150.mp4"}
+{"uid":"5797985721425351451","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8239008708910333640.mp4"}
+{"uid":"5212280793760607246","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":"1565599668229101947.mp4"}
+{"uid":"4486061924717584901","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\npick up the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11342342326363869519.mp4"}
+{"uid":"242717136960610087","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":"9534124610423989908.mp4"}
+{"uid":"1240451435616372451","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the white glass. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5914924750329142350.mp4"}
+{"uid":"3365425075932225136","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the pen from table and place it in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13228985086297689755.mp4"}
+{"uid":"9115691427973758106","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the red pool noodle from the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick the red pool noodle from the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8767319314524378236.mp4"}
+{"uid":"15230212272183945943","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cups 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cups Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the cups Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cups\n\u003c/PRED\u003e","video":"3350220321335602128.mp4"}
+{"uid":"10385535033762209657","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the candy into the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11532091148325831535.mp4"}
+{"uid":"736260520374173785","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: pick up the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack Q: immediate next step? \u003cPRED\u003eA: pick up the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the glass 2- stack a cup 3- Put the objects in the box 4- put block in the box 5- put block in the box\n\u003c/PRED\u003e","video":"16372433922207502064.mp4"}
+{"uid":"1176803620330984000","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the green glass in the blue 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":"8662572942006529483.mp4"}
+{"uid":"8853655135752366247","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move toward the carton box with the pool noodle\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove toward the carton box with the pool noodle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17921503506698007761.mp4"}
+{"uid":"8004203735679939261","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box 11- put block in the box Q: immediate next step? \u003cPRED\u003eA: put the cylinder shape object in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: put the cylinder shape 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 cylinder shape object in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the cylinder shape object in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box 11- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the cylinder shape object in the box 2- put blocks in the box 3- put block in the box 4- done\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the cylinder shape 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 cylinder shape 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":"12394069217005635565.mp4"}
+{"uid":"9296481166053613459","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput orange packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14582392381271775089.mp4"}
+{"uid":"7409128046049871774","text":"\u003ctask:success:discrete:False\u003e\nPut the objects 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: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: Put the objects in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the objects in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box 11- put block in the box 12- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the objects in the box 2- put block in the box 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box 11- put block in the box 12- put block in the box Q: immediate next step? \u003cPRED\u003eA: Put the objects in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the objects in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the objects 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":"1191884978605821277.mp4"}
+{"uid":"4075662507816071608","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the cup 2- stack a cup 3- Put the objects in the box 4- put block in the box 5- put block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack Q: immediate next step? \u003cPRED\u003eA: pick up the cup\n\u003c/PRED\u003e","video":"13991411298151911274.mp4"}
+{"uid":"13959179569534519639","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nEmpty  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":"10637642659502985897.mp4"}
+{"uid":"9741412891379233558","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the mouse from the left table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6085683917876402286.mp4"}
+{"uid":"15653870030237050156","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace block 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: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box 11- put block in the box Q: immediate next step? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace block 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: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box 11- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place block in the box 2- put blocks in the box 3- put block in the box 4- done\n\u003c/PRED\u003e","video":"8635184915887802052.mp4"}
+{"uid":"13031104957592086027","text":"\u003ctask:success:discrete:True\u003e\nstack a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e","video":"15833697145493027397.mp4"}
+{"uid":"534086781059732690","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- pick up the cup 3- stack a cup 4- Put the objects in the box 5- put block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"12253447178936125306.mp4"}
+{"uid":"5082029008478027233","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStack the sticky notes Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"157409872040894150.mp4"}
+{"uid":"10583819346340224739","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":"18205047411980504458.mp4"}
+{"uid":"7263097308032708491","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange 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":"2533505964261319018.mp4"}
+{"uid":"5216025523100278044","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blocks in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blocks in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: place blocks in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box 11- put block in the box 12- put block in the box Q: immediate next step? \u003cPRED\u003eA: place blocks in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace blocks 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 blocks 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: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box 11- put block in the box 12- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place blocks in the box 2- put block in the box 3- done\n\u003c/PRED\u003e","video":"16452475949480346249.mp4"}
+{"uid":"3249134396325596947","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nplace blocks 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: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup Q: next 5 steps? \u003cPRED\u003eA: 1- place blocks in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace blocks 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: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup Q: immediate next step? \u003cPRED\u003eA: place blocks in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place blocks in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place blocks in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: place blocks in the box\n\u003c/PRED\u003e","video":"8267332544670314422.mp4"}
+{"uid":"277420505204813661","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick the red pool noodle from the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the red pool noodle from the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place red noodle back into the box Q: immediate next step? \u003cPRED\u003eA: Pick the red pool noodle from the carton\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the red pool noodle from the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place red noodle back into the box. last 20 steps: 1- Pick the red pool noodle from the carton 2- Move toward the carton box with the pool noodle 3- Place the pool noodle inside the carton Q: immediate next step? \u003cPRED\u003eA: Pick the red pool noodle from the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the red pool noodle from the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place red noodle back into the box. last 20 steps: 1- Pick the red pool noodle from the carton 2- Move toward the carton box with the pool noodle 3- Place the pool noodle inside the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the red pool noodle from the carton 2- Move toward the carton box with the pool noodle 3- Place the pool noodle inside the carton 4- done\n\u003c/PRED\u003e","video":"15872593510755617163.mp4"}
+{"uid":"7219829976528609695","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the right file. Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16753583268456581401.mp4"}
+{"uid":"15648780393653299571","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cup on top of existing stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cup on top of existing stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cup on top of existing stack 2- pick up the cup 3- stack a cup 4- Put the objects in the box 5- put block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: stack the cup on top of existing stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack Q: immediate next step? \u003cPRED\u003eA: stack the cup on top of existing stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cup on top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9852221208388656993.mp4"}
+{"uid":"2287719099079335153","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move toward the carton box with the pool noodle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove toward the carton box with the pool noodle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 toward the carton box with the pool noodle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place red noodle back into the box Q: immediate next step? \u003cPRED\u003eA: Move toward the carton box with the pool noodle\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place red noodle back into the box. last 20 steps: 1- Pick the red pool noodle from the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Move toward the carton box with the pool noodle 2- Place the pool noodle inside the carton 3- Pick the red pool noodle from the carton 4- Move toward the carton box with the pool noodle 5- Place the pool noodle inside the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove toward the carton box with the pool noodle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 red noodle back into the box. last 20 steps: 1- Pick the red pool noodle from the carton Q: immediate next step? \u003cPRED\u003eA: Move toward the carton box with the pool noodle\n\u003c/PRED\u003e","video":"6997872865279846138.mp4"}
+{"uid":"17083826411102207146","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cup on top of existing stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cup on top of existing stack 2- stack the cup on top of existing stack 3- pick up the cup 4- stack a cup 5- Put the objects in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cup on top of existing 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: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: stack the cup on top of existing stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack Q: immediate next step? \u003cPRED\u003eA: stack the cup on top of existing stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cup on top of existing stack\n\u003c/PRED\u003e","video":"3572930156893323295.mp4"}
+{"uid":"1131642668927119669","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the blue 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":"6504749268848633749.mp4"}
+{"uid":"907133314404493034","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the polythene cover Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13770624625148200259.mp4"}
+{"uid":"14195040238787466042","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box 11- put block in the box 12- put block in the box 13- put blocks in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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 block 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 block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box 11- put block in the box 12- put block in the box 13- put blocks in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"1660661454900717705.mp4"}
+{"uid":"4615016607622570883","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- put block in the box 3- put blocks in the box 4- put block in the box 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"14783157807853430168.mp4"}
+{"uid":"4818075602305471824","text":"\u003ctask:success:discrete:True\u003e\nstack the cup on top of existing stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the cup on top of existing stack\n\u003c/PRED\u003e","video":"3352685285875015516.mp4"}
+{"uid":"11880933524557978478","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":"2869492540431490161.mp4"}
+{"uid":"15495276219797608916","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the objects in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the objects in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the objects 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: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: Put the objects in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup Q: next 5 steps? \u003cPRED\u003eA: 1- Put the objects in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the objects 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: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup Q: immediate next step? \u003cPRED\u003eA: Put the objects in the box\n\u003c/PRED\u003e","video":"6233106701839081451.mp4"}
+{"uid":"8341773010409805276","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"5180521714017700139.mp4"}
+{"uid":"9261959987651895501","text":"\u003ctask:success:discrete:False\u003e\nplace block in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box Q: immediate next step? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place block in the box 2- put block in the box 3- put blocks in the box 4- put block in the box 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace block 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":"18219672512921565615.mp4"}
+{"uid":"10392876886027397330","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- pick up the cup 5- stack a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"733655819088515215.mp4"}
+{"uid":"15036682392923202307","text":"\u003ctask:success:discrete:True\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"11213878436418537190.mp4"}
+{"uid":"12526380764734984003","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box 11- put block in the box 12- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put blocks in the box 2- put block in the box 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blocks in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput blocks 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: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: put blocks in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blocks 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: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box 11- put block in the box 12- put block in the box Q: immediate next step? \u003cPRED\u003eA: put blocks in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blocks in the box\n\u003c/PRED\u003e","video":"13279234657459430760.mp4"}
+{"uid":"11721073180385648270","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPickup the numi tea bag 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":"16482336394548032178.mp4"}
+{"uid":"15450661992234413354","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- pick up the cup 5- stack a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"12264708117919081884.mp4"}
+{"uid":"1834665757143113247","text":"\u003ctask:success:discrete:True\u003e\nput block 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 block in the box\n\u003c/PRED\u003e","video":"3639025732970207307.mp4"}
+{"uid":"16192487665021894379","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the blue pen in a pen stand Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"418012677471689065.mp4"}
+{"uid":"17716697890801418320","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box 11- put block in the box 12- put block in the box 13- put blocks in the box 14- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box 11- put block in the box 12- put block in the box 13- put blocks in the box 14- put block 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 block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput block 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":"17386937531333841711.mp4"}
+{"uid":"14181909676178771406","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the orange Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13860596274405246391.mp4"}
+{"uid":"11200782194696372918","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black 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":"104439901934486075.mp4"}
+{"uid":"15266123782018528009","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the yellow 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":"10301804896417454396.mp4"}
+{"uid":"8599832458807541896","text":"\u003ctask:success:discrete:True\u003e\nPlace the pool noodle inside the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place red noodle back 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: Place the pool noodle inside the carton\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place red noodle back into the box. last 20 steps: 1- Pick the red pool noodle from the carton 2- Move toward the carton box with the pool noodle 3- Place the pool noodle inside the carton 4- Pick the red pool noodle from the carton 5- Move toward the carton box with the pool noodle 6- Place the pool noodle inside the carton Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place red noodle back into the box. last 20 steps: 1- Pick the red pool noodle from the carton 2- Move toward the carton box with the pool noodle 3- Place the pool noodle inside the carton 4- Pick the red pool noodle from the carton 5- Move toward the carton box with the pool noodle 6- Place the pool noodle inside the carton Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"8656739346306604131.mp4"}
+{"uid":"14400522385210954237","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngo 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":"17995716235124710814.mp4"}
+{"uid":"4679567234018660223","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: Place red noodle back into the box. last 20 steps: 1- Pick the red pool noodle from the carton 2- Move toward the carton box with the pool noodle 3- Place the pool noodle inside the carton 4- Pick the red pool noodle from the carton 5- Move toward the carton box with the pool noodle Q: next 5 steps? \u003cPRED\u003eA: 1- Place the pool noodle inside the carton 2- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the pool noodle inside the carton\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place red noodle back into the box Q: immediate next step? \u003cPRED\u003eA: Place the pool noodle inside the carton\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the pool noodle inside the carton\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the pool noodle inside the carton Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the pool noodle inside the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place red noodle back into the box. last 20 steps: 1- Pick the red pool noodle from the carton 2- Move toward the carton box with the pool noodle 3- Place the pool noodle inside the carton 4- Pick the red pool noodle from the carton 5- Move toward the carton box with the pool noodle Q: immediate next step? \u003cPRED\u003eA: Place the pool noodle inside the carton\n\u003c/PRED\u003e","video":"14907972438324822304.mp4"}
+{"uid":"15916866512810476603","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack Q: next 5 steps? \u003cPRED\u003eA: 1- stack a cup 2- pick up the cup 3- stack a cup 4- Put the objects in the box 5- put block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack Q: immediate next step? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e","video":"14066992552699074712.mp4"}
+{"uid":"3200409134339579377","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box 11- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- put blocks in the box 3- put block in the box 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box 11- put block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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":"4415690890764791461.mp4"}
+{"uid":"17294367833012512438","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the cup on top of existing stack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the cup on top of existing stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12861043138384441427.mp4"}
+{"uid":"16217208752431291360","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move toward the carton box with the pool noodle\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove toward the carton box with the pool noodle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1134272993740279548.mp4"}
+{"uid":"8069838599943511013","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8862593453271055231.mp4"}
+{"uid":"8272108352685690820","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cup on top of existing stack\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cup on top of existing stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: stack the cup on top of existing stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup Q: immediate next step? \u003cPRED\u003eA: stack the cup on top of existing stack\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cup on top of existing stack 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- pick up the cup 5- stack a cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cup on top of existing 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:success:discrete:False\u003e\nstack the cup on top of existing stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6776754608328423142.mp4"}
+{"uid":"1962390994452344208","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":"116600937748360788.mp4"}
+{"uid":"9480245901474664854","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put blocks in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: put blocks in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup Q: next 5 steps? \u003cPRED\u003eA: 1- put blocks in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup Q: immediate next step? \u003cPRED\u003eA: put blocks in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put blocks in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput blocks 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 blocks 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":"733239087130464466.mp4"}
+{"uid":"11992770782765933441","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fork in the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15349142270537320457.mp4"}
+{"uid":"2662328623017109692","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup Q: immediate next step? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack a cup 2- Put the objects in the box 3- put block in the box 4- put block in the box 5- put block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e","video":"9297321166607343135.mp4"}
+{"uid":"14402813400502132818","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack Q: next 5 steps? \u003cPRED\u003eA: 1- stack a cup 2- stack the cup on top of existing stack 3- pick up the cup 4- stack a cup 5- Put the objects in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack Q: immediate next step? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"520118297182382778.mp4"}
+{"uid":"141268508114198237","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nHang the cap to the hanger 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":"11922146273546267950.mp4"}
+{"uid":"2377620700666367939","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place block in the box 2- put block in the box 3- put block in the box 4- put blocks in the box 5- put block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box Q: immediate next step? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace block 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 block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace block 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":"11518297231016043190.mp4"}
+{"uid":"3853442605553330522","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the cups 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":"6010523867826470197.mp4"}
+{"uid":"2450469402425258872","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":"3697782452539056282.mp4"}
+{"uid":"11254550378113060560","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the cup on top of existing stack\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: stack the cup on top of existing stack\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the cup on top of existing stack\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup Q: immediate next step? \u003cPRED\u003eA: stack the cup on top of existing stack\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the cup on top of existing stack Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the cup on top of existing stack 2- Put the objects in the box 3- put block in the box 4- put block in the box 5- put block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the cup on top of existing stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5057485425070505121.mp4"}
+{"uid":"12639879974965853776","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the diamond shape 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 diamond shape object in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the diamond shape 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 diamond shape object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: put the diamond shape object in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box 11- put block in the box 12- put block in the box 13- put blocks in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the diamond shape object in the box 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box 11- put block in the box 12- put block in the box 13- put blocks in the box Q: immediate next step? \u003cPRED\u003eA: put the diamond shape object in the box\n\u003c/PRED\u003e","video":"15006603448578886918.mp4"}
+{"uid":"13534301231380746853","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- stack the cup on top of existing stack 3- pick up the cup 4- stack a cup 5- Put the objects in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"18201661401728962246.mp4"}
+{"uid":"11502878179377661311","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow object in the box 2- put block in the box 3- put blocks in the box 4- put block in the box 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: put the yellow object in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the yellow object in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box Q: immediate next step? \u003cPRED\u003eA: put the yellow 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 yellow object in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow 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":"15454384563163752923.mp4"}
+{"uid":"11990570067557894711","text":"\u003ctask:success:discrete:False\u003e\nplace block 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 block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace block 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: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box Q: immediate next step? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e","video":"8308833555219133380.mp4"}
+{"uid":"9365958659492248823","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack the glass 2- Put the objects in the box 3- put block in the box 4- put block in the box 5- put block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack the glass Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup Q: immediate next step? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"233379830123354166.mp4"}
+{"uid":"15653041049698579300","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":"9695985395568487616.mp4"}
+{"uid":"1770050780055084425","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstack 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":"11568358057541960445.mp4"}
+{"uid":"10410179730031524385","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the cup on top of existing stack\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack the cup on top of existing stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8101535560470578445.mp4"}
+{"uid":"5125943658483203624","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput block 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":"6235967589763045120.mp4"}
+{"uid":"7245200813761967764","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move toward the carton box with the pool noodle\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: Place red noodle back into the box Q: immediate next step? \u003cPRED\u003eA: Move toward the carton box with the pool noodle\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove toward the carton box with the pool noodle Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED: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 red noodle back into the box. last 20 steps: 1- Pick the red pool noodle from the carton 2- Move toward the carton box with the pool noodle 3- Place the pool noodle inside the carton 4- Pick the red pool noodle from the carton Q: next 5 steps? \u003cPRED\u003eA: 1- Move toward the carton box with the pool noodle 2- Place the pool noodle inside the carton 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: Place red noodle back into the box. last 20 steps: 1- Pick the red pool noodle from the carton 2- Move toward the carton box with the pool noodle 3- Place the pool noodle inside the carton 4- Pick the red pool noodle from the carton Q: immediate next step? \u003cPRED\u003eA: Move toward the carton box with the pool noodle\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove toward the carton box with the pool noodle Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED: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 toward the carton box with the pool noodle\n\u003c/PRED\u003e","video":"5483438224659923639.mp4"}
+{"uid":"7612960801250599923","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack Q: next 5 steps? \u003cPRED\u003eA: 1- pick up a cup 2- stack a cup 3- Put the objects in the box 4- put block in the box 5- put block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: pick up a cup\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up a cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack Q: immediate next step? \u003cPRED\u003eA: pick up a cup\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick up 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: pick up a cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10119765872408247287.mp4"}
+{"uid":"6454810407257452040","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":"9083281223674851228.mp4"}
+{"uid":"13399313240736795443","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the 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":"4959973725596569859.mp4"}
+{"uid":"1712002468880258414","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":"7956779677748099766.mp4"}
+{"uid":"7573233712198115552","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15914487135548219035.mp4"}
+{"uid":"4690415956229754314","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up the black 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":"12051436025133223701.mp4"}
+{"uid":"15649775838267377094","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput block 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: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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 block in the box\n\u003c/PRED\u003e","video":"2432483816581791819.mp4"}
+{"uid":"6590946195141209693","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nstack a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11609485478398259157.mp4"}
+{"uid":"11232461071255729260","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nstick the sticky paper on to the wall Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9717161210250210128.mp4"}
+{"uid":"14821497178225221973","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput fruits on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8091273658904147857.mp4"}
+{"uid":"4717739816147276449","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":"13241885324768918961.mp4"}
+{"uid":"15559833265819342799","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick the red pool noodle from the carton\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick the red pool noodle from the carton Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6711608439449900470.mp4"}
+{"uid":"18145986047389521991","text":"\u003ctask:success:discrete:False\u003e\nplace block 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 block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace block 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: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box Q: immediate next step? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put blocks in the box\n\u003c/PRED\u003e","video":"11797553543833416179.mp4"}
+{"uid":"9768804238026886416","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the red bull can on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3047098423114331031.mp4"}
+{"uid":"9170268857379650231","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"12650817204770488253.mp4"}
+{"uid":"1892419009266329921","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nstack a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup Q: next 5 steps? \u003cPRED\u003eA: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- pick up the cup 5- stack a cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup Q: immediate next step? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e","video":"13743249603578117206.mp4"}
+{"uid":"14778734560042323365","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":"10027432313977113331.mp4"}
+{"uid":"13078703640821628102","text":"\u003ctask:success:discrete:True\u003e\nstack the cup on top of existing stack Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the cup on top of existing stack\n\u003c/PRED\u003e","video":"13497557762874447780.mp4"}
+{"uid":"12377606380502978125","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the bunch of plastic butter knifes 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":"12603700206098870500.mp4"}
+{"uid":"1401474067392081926","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput sponge brush 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":"8926143736789306195.mp4"}
+{"uid":"4327700551912822691","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put blocks in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"18358026453239591643.mp4"}
+{"uid":"14557089880210113435","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput block 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":"7697226905464441293.mp4"}
+{"uid":"2964689482175394761","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\narrange 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":"15486079353501514319.mp4"}
+{"uid":"9497420349645765476","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":"914463024178912362.mp4"}
+{"uid":"17385905180893825080","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput block 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: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box Q: next 5 steps? \u003cPRED\u003eA: 1- put block in the box 2- put block in the box 3- put block in the box 4- put blocks in the box 5- put block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: put block in the box\n\u003c/PRED\u003e","video":"2820289719622557562.mp4"}
+{"uid":"3874143423571799721","text":"\u003ctask:success:discrete:True\u003e\nstack the glass Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: stack the glass\n\u003c/PRED\u003e","video":"7497157939631601372.mp4"}
+{"uid":"14915490121553972205","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nstack a cup Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nstack a cup Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: stack a cup\n\u003c/PRED\u003e","video":"14781209207951544317.mp4"}
+{"uid":"6244303885904798867","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":"10493313457413497476.mp4"}
+{"uid":"1226769671284224763","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":"10121230742207555407.mp4"}
+{"uid":"15533708085960451506","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the heart shape 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the heart shape object in the box\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box Q: immediate next step? \u003cPRED\u003eA: Put the heart shape object in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the heart shape object in the box Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: Put the heart shape 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 heart shape object in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box Q: next 5 steps? \u003cPRED\u003eA: 1- Put the heart shape object in the box 2- put block in the box 3- put block in the box 4- put block in the box 5- put block in the box\n\u003c/PRED\u003e","video":"9268632981337082683.mp4"}
+{"uid":"4847236859089116582","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put blocks in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput blocks 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":"1747015918445237277.mp4"}
+{"uid":"15387143405777965991","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks Q: immediate next step? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace block 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: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box 11- put block in the box 12- put block in the box 13- put blocks in the box Q: immediate next step? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: stack the cups and put away the blocks. last 20 steps: 1- stack a cup 2- stack the cup on top of existing stack 3- stack the cup on top of existing stack 4- stack the cup on top of existing stack 5- pick up the cup 6- stack a cup 7- Put the objects in the box 8- put block in the box 9- put block in the box 10- put block in the box 11- put block in the box 12- put block in the box 13- put blocks in the box Q: next 5 steps? \u003cPRED\u003eA: 1- place block in the box 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place block in the box\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace block 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":"12537256406800396850.mp4"}
+{"uid":"16700535424971170712","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput black object 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":"708085309501459073.mp4"}
+{"uid":"3005355183747627999","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder Q: immediate next step? \u003cPRED\u003eA: Lift the yellow marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the yellow marker 2- Release the yellow marker in the black holder 3- Pick up the blue marker from the table 4- Place the blue marker in the bottom black holder 5- Pick up the orange marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nput circle shape object in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Lift the yellow marker\n\u003c/PRED\u003e\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\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the yellow marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the yellow marker\n\u003c/PRED\u003e","video":"17978971463469033088.mp4"}
+{"uid":"9793791459687296796","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red marker in the almirah Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5735098074390169390.mp4"}
+{"uid":"11764254094831254506","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the right most green marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the right most green marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16919885012405719195.mp4"}
+{"uid":"10447734503648969054","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the orange marker in the black holder 2- Go to the top blue marker 3- Grasp the blue marker 4- pick the top blue marker from the table 5- Put the blue marker in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the orange 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker Q: immediate next step? \u003cPRED\u003eA: Drop the orange marker in the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the orange 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\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Drop the orange marker in the black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the orange marker in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the orange marker in the black holder\n\u003c/PRED\u003e","video":"7674610789322125482.mp4"}
+{"uid":"3798184928170362908","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput yellow packet in the drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13880954100513506320.mp4"}
+{"uid":"5656910695295853991","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I change my mind, can you take the pepsi can back to the fridge please. last 20 steps: 1- open the left flap of the refrigerator Q: next 5 steps? \u003cPRED\u003eA: 1- place the cane in the refrigerator 2- close the left flap of the refrigerator 3- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the cane in the refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I change my mind, can you take the pepsi can back to the fridge please. last 20 steps: 1- open the left flap of the refrigerator Q: immediate next step? \u003cPRED\u003eA: place the cane in the refrigerator\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I change my mind, can you take the pepsi can back to the fridge please Q: immediate next step? \u003cPRED\u003eA: place the cane in the refrigerator\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the cane in the refrigerator\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the cane in the refrigerator\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nplace the cane in the refrigerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14786355909311459344.mp4"}
+{"uid":"17272986538819440674","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table 19- Release the yellow marker in the black holder 20- Pick up the blue marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Release the blue marker into the holder 2- Place the orange marker into the marker holder 3- Move away from the holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the blue marker into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Release the blue marker into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the blue 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:success:discrete:False\u003e\nRelease the blue 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table 19- Release the yellow marker in the black holder 20- Pick up the blue marker from the table Q: immediate next step? \u003cPRED\u003eA: Release the blue marker into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the blue marker into the holder\n\u003c/PRED\u003e","video":"7335641596903169935.mp4"}
+{"uid":"9383273709535585972","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":"17168122144246116741.mp4"}
+{"uid":"5021965402903356136","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the right blue 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the right blue marker into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the right blue marker into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker Q: immediate next step? \u003cPRED\u003eA: Place the right blue marker into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker Q: next 5 steps? \u003cPRED\u003eA: 1- Place the right blue marker into the holder 2- pick the yellow marker from the table 3- Place the left yellow marker into the holder 4- Lift the yellow marker from the table 5- Release the yellow marker in the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the right blue 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:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the right blue marker into the holder\n\u003c/PRED\u003e","video":"10803309796566774001.mp4"}
+{"uid":"11168822417410310465","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the green marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder Q: immediate next step? \u003cPRED\u003eA: pick the green marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the green 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 green 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:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: pick the green marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the green marker from the table 2- Move to the top orange marker 3- pick the orange marker from the table 4- place the orange marker in the bottom black holder 5- Go to the top blue marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the green marker from the table\n\u003c/PRED\u003e","video":"13566077134173837048.mp4"}
+{"uid":"10452272902084272199","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop 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:success:discrete:False\u003e\nDrop 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: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker Q: immediate next step? \u003cPRED\u003eA: Drop the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Drop the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the green marker in the pen holder 2- Lift the green marker from the table 3- Put the green marker in the black holder 4- Move to the top orange marker 5- pick the orange marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the green marker in the pen holder\n\u003c/PRED\u003e","video":"7815032046696048477.mp4"}
+{"uid":"5466886754731183702","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the battery Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"264178070475982628.mp4"}
+{"uid":"10334329367096206884","text":"\u003ctask:success:discrete:False\u003e\nMove away 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the black holder 2- Drop the green marker into the holder 3- Lift the green marker from the table 4- Put the green marker in the black holder 5- Move to the top orange marker 6- pick the orange marker from the table 7- place the orange marker in the bottom black holder 8- Go to the top blue marker 9- Grasp the blue marker 10- pick the top blue marker from the table 11- Put the blue marker in the black holder 12- Go to the bottom yellow marker on the table 13- pick the yellow marker from the table 14- Place the left yellow marker into the holder 15- Lift the yellow marker from the table 16- Release the yellow marker in the black holder 17- Pick up the blue marker from the table 18- Place the blue marker in the bottom black holder 19- Pick up the orange marker from the table 20- Place the orange marker into the marker holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move away from the holder 2- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move away from the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Move away from the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the black holder 2- Drop the green marker into the holder 3- Lift the green marker from the table 4- Put the green marker in the black holder 5- Move to the top orange marker 6- pick the orange marker from the table 7- place the orange marker in the bottom black holder 8- Go to the top blue marker 9- Grasp the blue marker 10- pick the top blue marker from the table 11- Put the blue marker in the black holder 12- Go to the bottom yellow marker on the table 13- pick the yellow marker from the table 14- Place the left yellow marker into the holder 15- Lift the yellow marker from the table 16- Release the yellow marker in the black holder 17- Pick up the blue marker from the table 18- Place the blue marker in the bottom black holder 19- Pick up the orange marker from the table 20- Place the orange marker into the marker holder Q: immediate next step? \u003cPRED\u003eA: Move away from the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove away 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move away from the holder\n\u003c/PRED\u003e","video":"7424507660388333915.mp4"}
+{"uid":"4999733985229589146","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput cream 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":"4454532437003019223.mp4"}
+{"uid":"11347779071724453782","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nclose the top drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4664862669218166218.mp4"}
+{"uid":"10132855465275459593","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the left yellow marker from the table 2- Place the left yellow marker into the holder 3- Lift the yellow marker from the table 4- Release the yellow marker in the black holder 5- Pick up the blue marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table Q: immediate next step? \u003cPRED\u003eA: Pick up the left yellow marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the left 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:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick up the left yellow marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the left 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the left 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 up the left yellow marker from the table\n\u003c/PRED\u003e","video":"6340447083175981595.mp4"}
+{"uid":"7418624088238616037","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the orange 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":"6791096347109725193.mp4"}
+{"uid":"15953809565842274152","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Drop 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: Drop the blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table 19- Release the yellow marker in the black holder 20- Pick up the blue marker from the table Q: immediate next step? \u003cPRED\u003eA: Drop the blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table 19- Release the yellow marker in the black holder 20- Pick up the blue marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the blue marker in the pen holder 2- Pick up the orange marker from the table 3- Place the orange marker into the marker holder 4- Move away from the holder 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop 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","video":"13394717946003124987.mp4"}
+{"uid":"9535663155905217226","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Lift the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder Q: immediate next step? \u003cPRED\u003eA: Lift the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the yellow marker from the table 2- Release the yellow marker in the black holder 3- Pick up the blue marker from the table 4- Place the blue marker in the bottom black holder 5- Pick up the orange marker from the table\n\u003c/PRED\u003e","video":"6334616002484607689.mp4"}
+{"uid":"12290389523033602962","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the right green marker on the table 2- Grasp the right green marker 3- Move towards the black holder 4- Drop the green marker into the holder 5- Lift the green marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move to the right green marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the right green marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Move to the right green 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 right green marker 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 right green marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the right green marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7635886948029511668.mp4"}
+{"uid":"15784663612211227374","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker Q: immediate next step? \u003cPRED\u003eA: Pick up the top orange marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the top orange marker 2- Go to the top blue marker 3- Grasp the blue marker 4- pick the top blue marker from the table 5- Put the blue marker in the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the top orange 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: Pick up the top orange marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick up the top orange marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the top orange marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the top orange 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","video":"9068408421914319085.mp4"}
+{"uid":"16466235983725705776","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the blue marker into the bottom black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the blue marker into the bottom black holder 2- Go to the bottom yellow marker on the table 3- pick the yellow marker from the table 4- Place the left yellow marker into the holder 5- Lift the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the blue marker into the bottom 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: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table Q: immediate next step? \u003cPRED\u003eA: put the blue marker into the bottom black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the blue marker into the bottom 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the blue marker into the bottom black holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the blue marker into the bottom black holder\n\u003c/PRED\u003e","video":"12421544454282607344.mp4"}
+{"uid":"13883352446886658397","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ngrab the blue 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":"16800899682589459638.mp4"}
+{"uid":"5206522967712042653","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the green marker into the bottom 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker Q: next 5 steps? \u003cPRED\u003eA: 1- put the green marker into the bottom black holder 2- Lift the green marker from the table 3- Put the green marker in the black holder 4- Move to the top orange marker 5- pick the orange marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the green marker into the bottom black holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker Q: immediate next step? \u003cPRED\u003eA: put the green marker into the bottom black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the green marker into the bottom black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the green marker into the bottom black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the green marker into the bottom black holder\n\u003c/PRED\u003e","video":"7389023956141543031.mp4"}
+{"uid":"13842839767334094924","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder Q: immediate next step? \u003cPRED\u003eA: Move towards the yellow marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Move towards the yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the yellow marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the yellow marker 2- Release the yellow marker in the black holder 3- Pick up the blue marker from the table 4- Place the blue marker in the bottom black holder 5- Pick up the orange marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the yellow 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: Move towards the yellow marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nMove your arm towards 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the yellow marker\n\u003c/PRED\u003e","video":"3897111208003690806.mp4"}
+{"uid":"11524343526052639719","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":"4400091847412673686.mp4"}
+{"uid":"10471964130658089713","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":"9257814802676047445.mp4"}
+{"uid":"9979155530623607452","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the right green marker from the table 2- Grasp the right green marker 3- Move towards the black holder 4- Drop the green marker into the holder 5- Lift the green marker from the table 6- Put the green marker in the black holder 7- Move to the top orange marker 8- pick the orange marker from the table 9- place the orange marker in the bottom black holder 10- Go to the top blue marker 11- Grasp the blue marker 12- pick the top blue marker from the table 13- Put the blue marker in the black holder 14- Go to the bottom yellow marker on the table 15- pick the yellow marker from the table 16- Place the left yellow marker into the holder 17- Lift the yellow marker from the table 18- Release the yellow marker in the black holder 19- Pick up the blue marker from the table 20- Place the blue marker in the bottom black holder Q: immediate next step? \u003cPRED\u003eA: Lift the orange marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the orange 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:success:discrete:False\u003e\nLift the orange 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the right green marker from the table 2- Grasp the right green marker 3- Move towards the black holder 4- Drop the green marker into the holder 5- Lift the green marker from the table 6- Put the green marker in the black holder 7- Move to the top orange marker 8- pick the orange marker from the table 9- place the orange marker in the bottom black holder 10- Go to the top blue marker 11- Grasp the blue marker 12- pick the top blue marker from the table 13- Put the blue marker in the black holder 14- Go to the bottom yellow marker on the table 15- pick the yellow marker from the table 16- Place the left yellow marker into the holder 17- Lift the yellow marker from the table 18- Release the yellow marker in the black holder 19- Pick up the blue marker from the table 20- Place the blue marker in the bottom black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the orange marker from the table 2- Place the orange marker into the marker holder 3- Move away from the holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the orange marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Lift the orange marker from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the orange marker from the table\n\u003c/PRED\u003e","video":"4720892351748257490.mp4"}
+{"uid":"14909158857875383731","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"9146791745380007583.mp4"}
+{"uid":"16677945172661258492","text":"\u003ctask:success:discrete:True\u003e\nRelease the blue 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: Release the blue marker into the holder\n\u003c/PRED\u003e","video":"16099930519828749584.mp4"}
+{"uid":"8140726796595850705","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the cane in the refrigerator\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nplace the cane in the refrigerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1011926513481265380.mp4"}
+{"uid":"15748060587995218353","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the green marker from the table 2- Move to the top orange marker 3- pick the orange marker from the table 4- place the orange marker in the bottom black holder 5- Go to the top blue marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the green 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the green marker 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 green marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder Q: immediate next step? \u003cPRED\u003eA: Pick up the green marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick up the green marker from the table\n\u003c/PRED\u003e","video":"16479473217320739254.mp4"}
+{"uid":"14140575610976731429","text":"\u003ctask:success:discrete:True\u003e\nMove towards the left 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: Move towards the left marker\n\u003c/PRED\u003e","video":"6869631273924379653.mp4"}
+{"uid":"9700428617956417774","text":"\u003ctask:success:discrete:False\u003e\nDrop the orange marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the orange marker in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table Q: immediate next step? \u003cPRED\u003eA: Drop the orange marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the orange marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the orange marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Drop the orange marker in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the orange marker in the pen holder 2- Grasp the blue marker 3- pick the top blue marker from the table 4- Put the blue marker in the black holder 5- Go to the bottom yellow marker on the table\n\u003c/PRED\u003e","video":"4880567214572917624.mp4"}
+{"uid":"5537705236229010486","text":"\u003ctask:success:discrete:False\u003e\nPlace the blue 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table 19- Release the yellow marker in the black holder Q: immediate next step? \u003cPRED\u003eA: Place the blue marker in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue 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 blue marker in the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table 19- Release the yellow marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue marker in the black holder 2- Pick up the orange marker from the table 3- Place the orange marker into the marker holder 4- Move away from the holder 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the blue marker in the black holder\n\u003c/PRED\u003e","video":"15393501805530031680.mp4"}
+{"uid":"3055362845144289189","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\ndrop the green marker into the bottom 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: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: drop the green marker into the bottom black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: drop the green marker into the bottom black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\ndrop the green marker into the bottom 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: drop the green marker into the bottom black holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table Q: immediate next step? \u003cPRED\u003eA: drop the green marker into the bottom black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- drop the green marker into the bottom black holder 2- Move to the top orange marker 3- pick the orange marker from the table 4- place the orange marker in the bottom black holder 5- Go to the top blue marker\n\u003c/PRED\u003e","video":"12090671681834962655.mp4"}
+{"uid":"8126300783750529176","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table Q: immediate next step? \u003cPRED\u003eA: Drop the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Drop 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: Drop the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop 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:success:discrete:False\u003e\nDrop 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the green marker in the pen holder 2- pick the orange marker from the table 3- place the orange marker in the bottom black holder 4- Go to the top blue marker 5- Grasp the blue marker\n\u003c/PRED\u003e","video":"578729498331666590.mp4"}
+{"uid":"598075490849750438","text":"\u003ctask:success:discrete:True\u003e\nput the green marker into the bottom black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the green marker into the bottom black holder\n\u003c/PRED\u003e","video":"10841554420380422944.mp4"}
+{"uid":"10930932584084758044","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nArrange the packets in the basket Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"4224739558109816390.mp4"}
+{"uid":"8250606287464675690","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":"6875229138171110079.mp4"}
+{"uid":"4414150185390460106","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Grasp the right green marker 2- Move towards the black holder 3- Drop the green marker into the holder 4- Lift the green marker from the table 5- Put the green marker in the black holder 6- Move to the top orange marker 7- pick the orange marker from the table 8- place the orange marker in the bottom black holder 9- Go to the top blue marker 10- Grasp the blue marker 11- pick the top blue marker from the table 12- Put the blue marker in the black holder 13- Go to the bottom yellow marker on the table 14- pick the yellow marker from the table 15- Place the left yellow marker into the holder 16- Lift the yellow marker from the table 17- Release the yellow marker in the black holder 18- Pick up the blue marker from the table 19- Place the blue marker in the bottom black holder 20- Pick up the orange marker from the table Q: immediate next step? \u003cPRED\u003eA: Drop the orange marker in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Grasp the right green marker 2- Move towards the black holder 3- Drop the green marker into the holder 4- Lift the green marker from the table 5- Put the green marker in the black holder 6- Move to the top orange marker 7- pick the orange marker from the table 8- place the orange marker in the bottom black holder 9- Go to the top blue marker 10- Grasp the blue marker 11- pick the top blue marker from the table 12- Put the blue marker in the black holder 13- Go to the bottom yellow marker on the table 14- pick the yellow marker from the table 15- Place the left yellow marker into the holder 16- Lift the yellow marker from the table 17- Release the yellow marker in the black holder 18- Pick up the blue marker from the table 19- Place the blue marker in the bottom black holder 20- Pick up the orange marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the orange marker in the pen holder 2- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Drop the orange marker in the pen holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the orange marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the orange marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the orange marker in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the orange marker in the pen holder\n\u003c/PRED\u003e","video":"12657084958330460654.mp4"}
+{"uid":"13174972307229030893","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the top blue marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the top blue marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the top blue marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder Q: immediate next step? \u003cPRED\u003eA: Grab the top blue marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Grab the top blue marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the top blue marker on the table 2- pick the top blue marker from the table 3- Put the blue marker in the black holder 4- Go to the bottom yellow marker on the table 5- pick the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the top blue marker on the table\n\u003c/PRED\u003e","video":"15076019374947949481.mp4"}
+{"uid":"3091984862551181871","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table 19- Release the yellow marker in the black holder Q: immediate next step? \u003cPRED\u003eA: Pick the blue marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table 19- Release the yellow marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick the blue marker 2- Place the blue marker in the bottom black holder 3- Pick up the orange marker from the table 4- Place the orange marker into the marker holder 5- Move away from the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick the blue marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick the blue 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: Pick the blue marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick the blue 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick the blue marker\n\u003c/PRED\u003e","video":"7313973554115425774.mp4"}
+{"uid":"18211014887533810931","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the candy on the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"139033321230658217.mp4"}
+{"uid":"12257313126860422317","text":"\u003ctask:success:discrete:False\u003e\nplace the orange marker in the bottom 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: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the orange marker in the bottom black holder 2- Go to the top blue marker 3- Grasp the blue marker 4- pick the top blue marker from the table 5- Put the blue marker in the black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the orange marker in the bottom black holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table Q: immediate next step? \u003cPRED\u003eA: place the orange marker in the bottom black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: place the orange marker in the bottom black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the orange marker in the bottom 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: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: place the orange marker in the bottom black holder\n\u003c/PRED\u003e","video":"6807422427880540684.mp4"}
+{"uid":"14867656429692071443","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the blue marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Grasp the blue marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the blue marker 2- pick the top blue marker from the table 3- Put the blue marker in the black holder 4- Go to the bottom yellow marker on the table 5- pick the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the blue marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the blue marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker Q: immediate next step? \u003cPRED\u003eA: Grasp the blue marker\n\u003c/PRED\u003e","video":"8969628057175549842.mp4"}
+{"uid":"7728601805655583345","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nClose the refrigerator 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":"10140822988813298938.mp4"}
+{"uid":"14212849314805066731","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":"2740851287833612316.mp4"}
+{"uid":"3390736569691773976","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the orange marker in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the orange marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5029873998294218487.mp4"}
+{"uid":"7133916688928729122","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the right green marker from the table 2- Grasp the right green marker 3- Move towards the black holder 4- Drop the green marker into the holder 5- Lift the green marker from the table 6- Put the green marker in the black holder 7- Move to the top orange marker 8- pick the orange marker from the table 9- place the orange marker in the bottom black holder 10- Go to the top blue marker 11- Grasp the blue marker 12- pick the top blue marker from the table 13- Put the blue marker in the black holder 14- Go to the bottom yellow marker on the table 15- pick the yellow marker from the table 16- Place the left yellow marker into the holder 17- Lift the yellow marker from the table 18- Release the yellow marker in the black holder 19- Pick up the blue marker from the table 20- Place the blue marker in the bottom black holder Q: immediate next step? \u003cPRED\u003eA: Put the orange marker in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the orange marker in the black holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the orange marker in the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the orange 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the right green marker from the table 2- Grasp the right green marker 3- Move towards the black holder 4- Drop the green marker into the holder 5- Lift the green marker from the table 6- Put the green marker in the black holder 7- Move to the top orange marker 8- pick the orange marker from the table 9- place the orange marker in the bottom black holder 10- Go to the top blue marker 11- Grasp the blue marker 12- pick the top blue marker from the table 13- Put the blue marker in the black holder 14- Go to the bottom yellow marker on the table 15- pick the yellow marker from the table 16- Place the left yellow marker into the holder 17- Lift the yellow marker from the table 18- Release the yellow marker in the black holder 19- Pick up the blue marker from the table 20- Place the blue marker in the bottom black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Put the orange marker in 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 orange marker in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the orange 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","video":"16896550234335744930.mp4"}
+{"uid":"9113035416687317829","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the orange marker in the black holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Grasp the right green marker 2- Move towards the black holder 3- Drop the green marker into the holder 4- Lift the green marker from the table 5- Put the green marker in the black holder 6- Move to the top orange marker 7- pick the orange marker from the table 8- place the orange marker in the bottom black holder 9- Go to the top blue marker 10- Grasp the blue marker 11- pick the top blue marker from the table 12- Put the blue marker in the black holder 13- Go to the bottom yellow marker on the table 14- pick the yellow marker from the table 15- Place the left yellow marker into the holder 16- Lift the yellow marker from the table 17- Release the yellow marker in the black holder 18- Pick up the blue marker from the table 19- Place the blue marker in the bottom black holder 20- Put the orange marker in the black holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the orange marker in the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Grasp the right green marker 2- Move towards the black holder 3- Drop the green marker into the holder 4- Lift the green marker from the table 5- Put the green marker in the black holder 6- Move to the top orange marker 7- pick the orange marker from the table 8- place the orange marker in the bottom black holder 9- Go to the top blue marker 10- Grasp the blue marker 11- pick the top blue marker from the table 12- Put the blue marker in the black holder 13- Go to the bottom yellow marker on the table 14- pick the yellow marker from the table 15- Place the left yellow marker into the holder 16- Lift the yellow marker from the table 17- Release the yellow marker in the black holder 18- Pick up the blue marker from the table 19- Place the blue marker in the bottom black holder 20- Put the orange marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"3344746078651563902.mp4"}
+{"uid":"12571566424281912112","text":"\u003ctask:success:discrete:True\u003e\nDrop the left yellow marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the left yellow marker in the pen holder\n\u003c/PRED\u003e","video":"4714626030938477577.mp4"}
+{"uid":"12914832109263235902","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":"3146404619362439293.mp4"}
+{"uid":"18380253414134687151","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the right green marker 2- Drop the green marker into the holder 3- Lift the green marker from the table 4- Put the green marker in the black holder 5- Move to the top orange marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the right green marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the right green marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the right 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:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: pick the right green marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the right green marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table Q: immediate next step? \u003cPRED\u003eA: pick the right green marker\n\u003c/PRED\u003e","video":"10526715783139915874.mp4"}
+{"uid":"5426108421715168201","text":"\u003ctask:success:discrete:True\u003e\nRelease the orange 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: Release the orange marker into the holder\n\u003c/PRED\u003e","video":"6632682332354022716.mp4"}
+{"uid":"6559365721398581840","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput popcorn packet on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15001385933317019789.mp4"}
+{"uid":"11921846113935072847","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the right blue marker 2- pick the top blue marker from the table 3- Put the blue marker in the black holder 4- Go to the bottom yellow marker on the table 5- pick the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Move towards the right blue marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the right blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the right blue marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the right blue marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the right blue 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder Q: immediate next step? \u003cPRED\u003eA: Move towards the right blue marker\n\u003c/PRED\u003e","video":"7359484607021660219.mp4"}
+{"uid":"9945875303793801851","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the top blue 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:success:discrete:False\u003e\nPick up the top blue 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:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick up the top blue marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the top blue marker from the table 2- Go to the bottom yellow marker on the table 3- pick the yellow marker from the table 4- Place the left yellow marker into the holder 5- Lift 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 up the top blue marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker Q: immediate next step? \u003cPRED\u003eA: Pick up the top blue marker from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the top blue marker from the table\n\u003c/PRED\u003e","video":"16160455398192512830.mp4"}
+{"uid":"8854623147867679853","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the left side orange marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder Q: immediate next step? \u003cPRED\u003eA: Pick up the left side orange marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the left side orange 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the left side orange marker from the table 2- Go to the top blue marker 3- Grasp the blue marker 4- pick the top blue marker from the table 5- Put the blue marker in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the left side orange 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:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick up the left side orange marker from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the left side orange marker from the table\n\u003c/PRED\u003e","video":"15713091519701783733.mp4"}
+{"uid":"10539783821237903465","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":"10620360481399059173.mp4"}
+{"uid":"16082539934960420943","text":"\u003ctask:success:discrete:True\u003e\nPick up the right blue marker 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 right blue marker from the table\n\u003c/PRED\u003e","video":"2439872176142694317.mp4"}
+{"uid":"1903334999016665730","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the orange marker into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the orange 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","video":"7848428289338995234.mp4"}
+{"uid":"3648514697070327461","text":"\u003ctask:success:discrete:True\u003e\nMove to the right green marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the right green marker on the table\n\u003c/PRED\u003e","video":"18166562505816389099.mp4"}
+{"uid":"12187467179193490341","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Move towards the left marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the left marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the left marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the left marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the left marker 2- Place the left yellow marker into the holder 3- Lift the yellow marker from the table 4- Release the yellow marker in the black holder 5- Pick up the blue marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder Q: immediate next step? \u003cPRED\u003eA: Move towards the left marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the left marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17366919543728768562.mp4"}
+{"uid":"18083929924876921622","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":"8655954710362826372.mp4"}
+{"uid":"14965595680237544324","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":"6523132372426462504.mp4"}
+{"uid":"3166380660313005085","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio in the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"14666803729427320118.mp4"}
+{"uid":"9675561716933009751","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":"2350748702923938938.mp4"}
+{"uid":"18028234867157787309","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: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\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: place the yellow marker in the bottom black holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: place the yellow marker in the bottom black 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow marker in the black holder 2- Lift the yellow marker from the table 3- Release the yellow marker in the black holder 4- Pick up the blue marker from the table 5- Place the blue marker in the bottom 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:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \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 bottom 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: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- place the yellow marker in the bottom black holder 2- Release the yellow marker in the black holder 3- Pick up the blue marker from the table 4- Place the blue marker in the bottom black holder 5- Pick up the orange marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nplace the yellow marker in the bottom 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: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 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: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table Q: immediate next step? \u003cPRED\u003eA: place the yellow marker in the bottom 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 bottom black holder\n\u003c/PRED\u003e","video":"17111567974757729828.mp4"}
+{"uid":"12051602069559466489","text":"\u003ctask:success:discrete:True\u003e\nput the blue marker into the bottom black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the blue marker into the bottom black holder\n\u003c/PRED\u003e","video":"5843695280099961880.mp4"}
+{"uid":"7265776358425469375","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker Q: immediate next step? \u003cPRED\u003eA: Put the blue marker in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the blue 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:success:discrete:False\u003e\nPut the blue 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker Q: next 5 steps? \u003cPRED\u003eA: 1- Put the blue marker in the black holder 2- Go to the bottom yellow marker on the table 3- pick the yellow marker from the table 4- Place the left yellow marker into the holder 5- Lift the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the blue marker in the black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the blue marker in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the blue marker in the black holder\n\u003c/PRED\u003e","video":"7065845624788488968.mp4"}
+{"uid":"18127998880935528462","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the orange on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"9089272350885332457.mp4"}
+{"uid":"3485801531043919465","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput blue packet into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8361644735567366130.mp4"}
+{"uid":"3263887692762724317","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":"4376627821896277256.mp4"}
+{"uid":"11201802809129183298","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the green marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the green marker on the table 2- Put the green marker in the black holder 3- Move to the top orange marker 4- pick the orange marker from the table 5- place the orange marker in the bottom black holder\n\u003c/PRED\u003e\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\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the green marker on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder Q: immediate next step? \u003cPRED\u003eA: Grab the green marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Grab the green marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the green marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the green marker on the table\n\u003c/PRED\u003e","video":"2073233630305895173.mp4"}
+{"uid":"6412625821892079401","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace fork on the forks Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder Q: immediate next step? \u003cPRED\u003eA: Lift the green marker from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the green marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Lift the green marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the green marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the green marker from the table 2- Move to the top orange marker 3- pick the orange marker from the table 4- place the orange marker in the bottom black holder 5- Go to the top blue marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the green 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","video":"8644351038651611047.mp4"}
+{"uid":"5928809615890171478","text":"\u003ctask:success:discrete:False\u003e\nDrop the orange marker into the marker holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the orange marker into the marker holder 2- Go to the top blue marker 3- Grasp the blue marker 4- pick the top blue marker from the table 5- Put the blue marker in the black holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Drop the orange marker into the marker holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the orange marker into the marker holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table Q: immediate next step? \u003cPRED\u003eA: Drop the orange marker into the marker holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the orange marker into the marker holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the orange marker into the marker holder\n\u003c/PRED\u003e","video":"15509162540941146363.mp4"}
+{"uid":"5443679152083694648","text":"\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:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: pick the yellow marker from the table\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: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder Q: immediate next step? \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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow marker from the table 2- Pick up the blue marker from the table 3- Place the blue marker in the bottom black holder 4- Pick up the orange marker from the table 5- Place the orange marker into the marker holder\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","video":"7560608617364259725.mp4"}
+{"uid":"12845171239624519177","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":"9034525150130697517.mp4"}
+{"uid":"10540766265702502041","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the  front orange marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the  front orange marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the  front orange marker 2- place the orange marker in the bottom black holder 3- Go to the top blue marker 4- Grasp the blue marker 5- pick the top blue marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the  front orange 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder Q: immediate next step? \u003cPRED\u003eA: Move towards the  front orange marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the  front orange marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Move towards the  front orange marker\n\u003c/PRED\u003e","video":"8851837181137363436.mp4"}
+{"uid":"16648273956837828346","text":"\u003ctask:success:discrete:True\u003e\nGo towards the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Go towards the black holder\n\u003c/PRED\u003e","video":"3457200776351051918.mp4"}
+{"uid":"1469022992706898272","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table Q: immediate next step? \u003cPRED\u003eA: Place the yellow marker into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the yellow marker 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 into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow marker into the holder 2- Pick up the blue marker from the table 3- Place the blue marker in the bottom black holder 4- Pick up the orange marker from the table 5- Place the orange marker into the marker holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace 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:discriminative:discrete:True\u003e\nPlace 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow marker into the holder\n\u003c/PRED\u003e","video":"6099573816043650988.mp4"}
+{"uid":"4383318324909210626","text":"\u003ctask:success:discrete:False\u003e\nPick up the right green 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the right green marker from the table 2- Drop the green marker into the holder 3- Lift the green marker from the table 4- Put the green marker in the black holder 5- Move to the top orange marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers Q: immediate next step? \u003cPRED\u003eA: Pick up the right green marker 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 right green marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick up the right green marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the right green 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the right green marker from the table\n\u003c/PRED\u003e","video":"14801406990963894865.mp4"}
+{"uid":"4696797876344015974","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":"7047259528938049573.mp4"}
+{"uid":"14971515182446750985","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":"2925645710460409269.mp4"}
+{"uid":"4359086474651802003","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue marker in the bottom black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue marker in the bottom black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the blue marker in the bottom black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue marker in the bottom black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue marker in the bottom black holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table 19- Release the yellow marker in the black holder Q: immediate next step? \u003cPRED\u003eA: Place the blue marker in the bottom black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table 19- Release the yellow marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue marker in the bottom black holder 2- Pick up the orange marker from the table 3- Place the orange marker into the marker holder 4- Move away from the holder 5- done\n\u003c/PRED\u003e","video":"7167626038568534321.mp4"}
+{"uid":"719544905231176298","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the yellow marker from the table 2- Pick up the blue marker from the table 3- Place the blue marker in the bottom black holder 4- Pick up the orange marker from the table 5- Place the orange marker into the marker holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up 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 up the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up 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:success:discrete:False\u003e\nPick up 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow marker from the table\n\u003c/PRED\u003e","video":"15582292298441896965.mp4"}
+{"uid":"2031523213295855576","text":"\u003ctask:success:discrete:True\u003e\nPick up the right side green marker 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 right side green marker from the table\n\u003c/PRED\u003e","video":"6163631041545615392.mp4"}
+{"uid":"8221825950434854057","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the red bull can on the table from the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6545514651328863857.mp4"}
+{"uid":"6724422849913324666","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the left side orange marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the left side orange marker 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":"1383809349765487357.mp4"}
+{"uid":"4296025610938230915","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the red 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":"2094025897698834760.mp4"}
+{"uid":"863138152725215165","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the chocolate crunch into the paper bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2066004107084543487.mp4"}
+{"uid":"6645064199970625528","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nGrasp 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":"2604116619856142444.mp4"}
+{"uid":"8064705619707121606","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue marker in the bottom black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the blue marker in the bottom 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":"12554948094161014764.mp4"}
+{"uid":"1506496556343752142","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: close the left flap of the refrigerator\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I change my mind, can you take the pepsi can back to the fridge please Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I change my mind, can you take the pepsi can back to the fridge please. last 20 steps: 1- open the left flap of the refrigerator 2- place the cane in the refrigerator 3- close the left flap of the refrigerator Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I change my mind, can you take the pepsi can back to the fridge please. last 20 steps: 1- open the left flap of the refrigerator 2- place the cane in the refrigerator 3- close the left flap of the refrigerator Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nclose the left flap of the refrigerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10814257424095061292.mp4"}
+{"uid":"14432783754082848567","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the blue marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table 19- Release the yellow marker in the black holder Q: immediate next step? \u003cPRED\u003eA: Pick up the blue marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the blue 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:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick up the blue marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table 19- Release the yellow marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue marker from the table 2- Pick up the orange marker from the table 3- Place the orange marker into the marker holder 4- Move away from the holder 5- done\n\u003c/PRED\u003e","video":"11103481437312553093.mp4"}
+{"uid":"411662166268045070","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the blue marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table 19- Release the yellow marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the blue marker from the table 2- Place the blue marker in the bottom black holder 3- Pick up the orange marker from the table 4- Place the orange marker into the marker holder 5- Move away from the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: pick the blue marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table 19- Release the yellow marker in the black holder Q: immediate next step? \u003cPRED\u003eA: pick the blue marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the blue 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 blue 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the blue marker from the table\n\u003c/PRED\u003e","video":"16188313371055219001.mp4"}
+{"uid":"2520385797337867133","text":"\u003ctask:success:discrete:False\u003e\nGo towards 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table 19- Release the yellow marker in the black holder Q: immediate next step? \u003cPRED\u003eA: Go towards the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo towards the black holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go towards the black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go towards the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table 19- Release the yellow marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Go towards the black holder 2- Pick up the orange marker from the table 3- Place the orange marker into the marker holder 4- Move away from the holder 5- done\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Go towards the black holder\n\u003c/PRED\u003e","video":"17286564779407967978.mp4"}
+{"uid":"12198736443650200051","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the top orange marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the top orange marker 2- pick the orange marker from the table 3- place the orange marker in the bottom black holder 4- Go to the top blue marker 5- Grasp the blue marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table Q: immediate next step? \u003cPRED\u003eA: Move to the top orange marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Move to the top orange marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the top orange marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the top orange 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the top orange marker\n\u003c/PRED\u003e","video":"6556494368731788611.mp4"}
+{"uid":"18171776579288716012","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGrab the blue marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrab the blue 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table 19- Release the yellow marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Grab the blue marker 2- Place the blue marker in the bottom black holder 3- Pick up the orange marker from the table 4- Place the orange marker into the marker holder 5- Move away from the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grab the blue marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grab the blue marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Grab the blue marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table 19- Release the yellow marker in the black holder Q: immediate next step? \u003cPRED\u003eA: Grab the blue marker\n\u003c/PRED\u003e","video":"7960974176753181170.mp4"}
+{"uid":"8325368093433889492","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move to the top orange marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove to the top orange marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15558943283097745855.mp4"}
+{"uid":"582130636486137513","text":"\u003ctask:success:discrete:True\u003e\nPick up the orange marker 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 orange marker from the table\n\u003c/PRED\u003e","video":"3858655213540945345.mp4"}
+{"uid":"14249488132452109062","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nmove near the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17279675950102506619.mp4"}
+{"uid":"6205018956100880608","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the right side green marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the right side green marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move towards the right side green marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Move towards the right side green marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the right side green marker on the table 2- Grasp the right green marker 3- Move towards the black holder 4- Drop the green marker into the holder 5- Lift the green marker from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the right side green marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the right side green marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"194027684814786615.mp4"}
+{"uid":"10217657599346145807","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":"7528958813546563645.mp4"}
+{"uid":"8628509390023634843","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace blue chip bag 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":"16600498946958935412.mp4"}
+{"uid":"16967602608450780399","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":"8783543846037062013.mp4"}
+{"uid":"17432034127032314775","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the bottom yellow marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the bottom yellow marker 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":"6541552535780595574.mp4"}
+{"uid":"11272072086237113088","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nDrop the blue 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":"8368651486755481517.mp4"}
+{"uid":"6533499468581440703","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":"1457416501509501688.mp4"}
+{"uid":"1304502195286805050","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the green 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 green marker in the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker Q: next 5 steps? \u003cPRED\u003eA: 1- Place the green marker in the black holder 2- Lift the green marker from the table 3- Put the green marker in the black holder 4- Move to the top orange marker 5- pick the orange marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the green 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker Q: immediate next step? \u003cPRED\u003eA: Place the green marker in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the green 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the green marker in the black holder\n\u003c/PRED\u003e","video":"12208827714078195330.mp4"}
+{"uid":"6517176903190419750","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the right 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:success:discrete:False\u003e\nMove to the right 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: Move to the right green marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the right green marker 2- Move towards the black holder 3- Drop the green marker into the holder 4- Lift the green marker from the table 5- Put the green marker in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the right green marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move to the right green marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Move to the right green marker\n\u003c/PRED\u003e","video":"10615994783234315725.mp4"}
+{"uid":"1280429356799498453","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table Q: immediate next step? \u003cPRED\u003eA: Place the yellow marker into the marker holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the yellow marker into the marker holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the yellow marker into the marker holder 2- Lift the yellow marker from the table 3- Release the yellow marker in the black holder 4- Pick up the blue marker from the table 5- Place the blue marker in the bottom black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the yellow marker into the marker holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the yellow marker into the marker holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED: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 yellow marker into the marker holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\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 all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the yellow marker into the marker holder\n\u003c/PRED\u003e","video":"3860183540531411703.mp4"}
+{"uid":"5636218327709390235","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the right green marker from the table 2- Grasp the right green marker 3- Move towards the black holder 4- Drop the green marker into the holder 5- Lift the green marker from the table 6- Put the green marker in the black holder 7- Move to the top orange marker 8- pick the orange marker from the table 9- place the orange marker in the bottom black holder 10- Go to the top blue marker 11- Grasp the blue marker 12- pick the top blue marker from the table 13- Put the blue marker in the black holder 14- Go to the bottom yellow marker on the table 15- pick the yellow marker from the table 16- Place the left yellow marker into the holder 17- Lift the yellow marker from the table 18- Release the yellow marker in the black holder 19- Pick up the blue marker from the table 20- Place the blue marker in the bottom black holder Q: immediate next step? \u003cPRED\u003eA: Place the orange marker into the marker holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange marker into the marker holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the right green marker from the table 2- Grasp the right green marker 3- Move towards the black holder 4- Drop the green marker into the holder 5- Lift the green marker from the table 6- Put the green marker in the black holder 7- Move to the top orange marker 8- pick the orange marker from the table 9- place the orange marker in the bottom black holder 10- Go to the top blue marker 11- Grasp the blue marker 12- pick the top blue marker from the table 13- Put the blue marker in the black holder 14- Go to the bottom yellow marker on the table 15- pick the yellow marker from the table 16- Place the left yellow marker into the holder 17- Lift the yellow marker from the table 18- Release the yellow marker in the black holder 19- Pick up the blue marker from the table 20- Place the blue marker in the bottom black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange marker into the marker holder 2- Move away from the holder 3- done\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange marker into the marker holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange marker into the marker holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange marker into the marker holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the orange marker into the marker holder\n\u003c/PRED\u003e","video":"10647243979129136837.mp4"}
+{"uid":"10198163390930167305","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the left green marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the left green marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the left green marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder Q: immediate next step? \u003cPRED\u003eA: Move towards the left green marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Move towards the left green marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the left 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the left green marker 2- Put the green marker in the black holder 3- Move to the top orange marker 4- pick the orange marker from the table 5- place the orange marker in the bottom black holder\n\u003c/PRED\u003e","video":"10818105354629560094.mp4"}
+{"uid":"14406772855794844364","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the right green marker from the table 2- Grasp the right green marker 3- Move towards the black holder 4- Drop the green marker into the holder 5- Lift the green marker from the table 6- Put the green marker in the black holder 7- Move to the top orange marker 8- pick the orange marker from the table 9- place the orange marker in the bottom black holder 10- Go to the top blue marker 11- Grasp the blue marker 12- pick the top blue marker from the table 13- Put the blue marker in the black holder 14- Go to the bottom yellow marker on the table 15- pick the yellow marker from the table 16- Place the left yellow marker into the holder 17- Lift the yellow marker from the table 18- Release the yellow marker in the black holder 19- Pick up the blue marker from the table 20- Place the blue marker in the bottom black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the orange marker from the table 2- Place the orange marker into the marker holder 3- Move away from the holder 4- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the orange 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:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Lift the orange marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the orange marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the right green marker from the table 2- Grasp the right green marker 3- Move towards the black holder 4- Drop the green marker into the holder 5- Lift the green marker from the table 6- Put the green marker in the black holder 7- Move to the top orange marker 8- pick the orange marker from the table 9- place the orange marker in the bottom black holder 10- Go to the top blue marker 11- Grasp the blue marker 12- pick the top blue marker from the table 13- Put the blue marker in the black holder 14- Go to the bottom yellow marker on the table 15- pick the yellow marker from the table 16- Place the left yellow marker into the holder 17- Lift the yellow marker from the table 18- Release the yellow marker in the black holder 19- Pick up the blue marker from the table 20- Place the blue marker in the bottom black holder Q: immediate next step? \u003cPRED\u003eA: Lift the orange marker from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the orange marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the orange 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","video":"14513428552216581534.mp4"}
+{"uid":"11822288087890008669","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace 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":"9170328187986297799.mp4"}
+{"uid":"11695000500868651551","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\ndrop the pen in the black tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7758836000334338192.mp4"}
+{"uid":"11270844599203811856","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the right most green marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the right most green 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: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table Q: immediate next step? \u003cPRED\u003eA: Pick up the right most green marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the right most green 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the right most green marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick up the right most green marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the right most green marker from the table 2- Drop the green marker into the holder 3- Lift the green marker from the table 4- Put the green marker in the black holder 5- Move to the top orange marker\n\u003c/PRED\u003e","video":"4360784536854411185.mp4"}
+{"uid":"2897285433397404362","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace a Orange inside the bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"12290162616836828646.mp4"}
+{"uid":"4759377674574549063","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":"16417695369531772246.mp4"}
+{"uid":"9480944269506675222","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the tissues on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10301677567395800054.mp4"}
+{"uid":"3349787351949363529","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the toy 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":"8939524984694035597.mp4"}
+{"uid":"16696257130139145974","text":"\u003ctask:success:discrete:True\u003e\nPick up the right green marker 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 right green marker from the table\n\u003c/PRED\u003e","video":"12588181810549246508.mp4"}
+{"uid":"10470705315677797546","text":"\u003ctask:success:discrete:True\u003e\nGrab the top blue marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grab the top blue marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nMove towards 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":"10470706119956668264.mp4"}
+{"uid":"9606100402776018698","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the blue marker into the marker holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table 19- Release the yellow marker in the black holder 20- Pick up the blue marker from the table Q: immediate next step? \u003cPRED\u003eA: Place the blue marker into the marker holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the blue marker into the marker holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the blue marker into the marker holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the blue marker into the marker holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\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 all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table 19- Release the yellow marker in the black holder 20- Pick up the blue marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the blue marker into the marker holder 2- Pick up the orange marker from the table 3- Place the orange marker into the marker holder 4- Move away from the holder 5- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the blue marker into the marker holder\n\u003c/PRED\u003e","video":"13797014557869996760.mp4"}
+{"uid":"17419598856083234143","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the yellow marker into the marker holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the yellow marker into the marker 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":"4431441938800353324.mp4"}
+{"uid":"155480554438282822","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":"18405039214986400935.mp4"}
+{"uid":"3552294467486658872","text":"\u003ctask:success:discrete:True\u003e\nPlace the blue marker in the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the blue marker in the black holder\n\u003c/PRED\u003e","video":"8522394180320960032.mp4"}
+{"uid":"12102046684537816250","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut paper bags  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":"6028517701044437931.mp4"}
+{"uid":"3571165933538442366","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the orange marker into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the orange marker into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the orange 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: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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the right green marker from the table 2- Grasp the right green marker 3- Move towards the black holder 4- Drop the green marker into the holder 5- Lift the green marker from the table 6- Put the green marker in the black holder 7- Move to the top orange marker 8- pick the orange marker from the table 9- place the orange marker in the bottom black holder 10- Go to the top blue marker 11- Grasp the blue marker 12- pick the top blue marker from the table 13- Put the blue marker in the black holder 14- Go to the bottom yellow marker on the table 15- pick the yellow marker from the table 16- Place the left yellow marker into the holder 17- Lift the yellow marker from the table 18- Release the yellow marker in the black holder 19- Pick up the blue marker from the table 20- Place the blue marker in the bottom black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Release the orange marker into the holder 2- Move away from the holder 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the right green marker from the table 2- Grasp the right green marker 3- Move towards the black holder 4- Drop the green marker into the holder 5- Lift the green marker from the table 6- Put the green marker in the black holder 7- Move to the top orange marker 8- pick the orange marker from the table 9- place the orange marker in the bottom black holder 10- Go to the top blue marker 11- Grasp the blue marker 12- pick the top blue marker from the table 13- Put the blue marker in the black holder 14- Go to the bottom yellow marker on the table 15- pick the yellow marker from the table 16- Place the left yellow marker into the holder 17- Lift the yellow marker from the table 18- Release the yellow marker in the black holder 19- Pick up the blue marker from the table 20- Place the blue marker in the bottom black holder Q: immediate next step? \u003cPRED\u003eA: Release the orange marker into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Release the orange marker into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease the orange 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","video":"799481653641016042.mp4"}
+{"uid":"1921477262595659052","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the right bottom 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":"2748097072480286123.mp4"}
+{"uid":"772030410968849593","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: none Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the right most green marker on the table 2- Grasp the right green marker 3- Move towards the black holder 4- Drop the green marker into the holder 5- Lift the green marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the right most green marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Move to the right most green marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the right most green marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the right most green marker on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: none Q: immediate next step? \u003cPRED\u003eA: Move to the right most green 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 right most green marker on the table\n\u003c/PRED\u003e","video":"11235104454998769499.mp4"}
+{"uid":"7772650760217433450","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":"14323831343180579686.mp4"}
+{"uid":"2345863038891864138","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace 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":"14298134108776346084.mp4"}
+{"uid":"7719542083477047367","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":"17366223818795830695.mp4"}
+{"uid":"3814591398234920068","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the brush on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13689246729494719091.mp4"}
+{"uid":"14371735177143692715","text":"\u003ctask:success:discrete:True\u003e\nDrop the right blue marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the right blue marker in the pen holder\n\u003c/PRED\u003e","video":"8635104536102378746.mp4"}
+{"uid":"17516964787860093448","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":"5920831919209801518.mp4"}
+{"uid":"16487856353662813451","text":"\u003ctask:success:discrete:False\u003e\nMove to the orange marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the right green marker from the table 2- Grasp the right green marker 3- Move towards the black holder 4- Drop the green marker into the holder 5- Lift the green marker from the table 6- Put the green marker in the black holder 7- Move to the top orange marker 8- pick the orange marker from the table 9- place the orange marker in the bottom black holder 10- Go to the top blue marker 11- Grasp the blue marker 12- pick the top blue marker from the table 13- Put the blue marker in the black holder 14- Go to the bottom yellow marker on the table 15- pick the yellow marker from the table 16- Place the left yellow marker into the holder 17- Lift the yellow marker from the table 18- Release the yellow marker in the black holder 19- Pick up the blue marker from the table 20- Place the blue marker in the bottom black holder Q: immediate next step? \u003cPRED\u003eA: Move to the orange marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the right green marker from the table 2- Grasp the right green marker 3- Move towards the black holder 4- Drop the green marker into the holder 5- Lift the green marker from the table 6- Put the green marker in the black holder 7- Move to the top orange marker 8- pick the orange marker from the table 9- place the orange marker in the bottom black holder 10- Go to the top blue marker 11- Grasp the blue marker 12- pick the top blue marker from the table 13- Put the blue marker in the black holder 14- Go to the bottom yellow marker on the table 15- pick the yellow marker from the table 16- Place the left yellow marker into the holder 17- Lift the yellow marker from the table 18- Release the yellow marker in the black holder 19- Pick up the blue marker from the table 20- Place the blue marker in the bottom black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the orange marker on the table 2- Place the orange marker into the marker holder 3- Move away from the holder 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move to the orange marker 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 orange marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Move to the orange marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the orange marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"7771386073673463245.mp4"}
+{"uid":"4085955140806174179","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Put the green marker in the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPut the green 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\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Put the green marker in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPut the green 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Put the green marker in the black holder 2- pick the orange marker from the table 3- place the orange marker in the bottom black holder 4- Go to the top blue marker 5- Grasp the blue marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Put the green marker in the black holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table Q: immediate next step? \u003cPRED\u003eA: Put the green marker in the black holder\n\u003c/PRED\u003e","video":"15452693327006759617.mp4"}
+{"uid":"3567910451478331200","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace red pen in red pen drawer Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"1940440524367056003.mp4"}
+{"uid":"1707810346717419403","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Place the right blue marker into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPlace the right blue 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","video":"17186481762684996635.mp4"}
+{"uid":"1049791339227718623","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the green marker into the marker holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the green marker into the marker holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\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 green marker into the marker holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the green marker into the marker holder 2- Lift the green marker from the table 3- Put the green marker in the black holder 4- Move to the top orange marker 5- pick the orange marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Drop the green marker into the marker holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker Q: immediate next step? \u003cPRED\u003eA: Drop the green marker into the marker holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the green marker into the marker holder\n\u003c/PRED\u003e","video":"12225750716764805698.mp4"}
+{"uid":"9382696083348214914","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the green marker in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the green marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8590350840717751064.mp4"}
+{"uid":"13921935751281371542","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the bottom yellow marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the bottom 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the bottom yellow marker from the table 2- Place the left yellow marker into the holder 3- Lift the yellow marker from the table 4- Release the yellow marker in the black holder 5- Pick up the blue marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom yellow marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom yellow marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the bottom 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the bottom yellow marker from the table\n\u003c/PRED\u003e","video":"90173069807480748.mp4"}
+{"uid":"7368956860166919720","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick the left plastic glass from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5169372411543089036.mp4"}
+{"uid":"11234248610828890550","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the plastic knife 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":"7908337645090721882.mp4"}
+{"uid":"11521336320497216276","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the black holder 2- Drop the green marker into the holder 3- Lift the green marker from the table 4- Put the green marker in the black holder 5- Move to the top orange marker 6- pick the orange marker from the table 7- place the orange marker in the bottom black holder 8- Go to the top blue marker 9- Grasp the blue marker 10- pick the top blue marker from the table 11- Put the blue marker in the black holder 12- Go to the bottom yellow marker on the table 13- pick the yellow marker from the table 14- Place the left yellow marker into the holder 15- Lift the yellow marker from the table 16- Release the yellow marker in the black holder 17- Pick up the blue marker from the table 18- Place the blue marker in the bottom black holder 19- Pick up the orange marker from the table 20- Drop the orange marker in the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the orange marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the orange marker in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the black holder 2- Drop the green marker into the holder 3- Lift the green marker from the table 4- Put the green marker in the black holder 5- Move to the top orange marker 6- pick the orange marker from the table 7- place the orange marker in the bottom black holder 8- Go to the top blue marker 9- Grasp the blue marker 10- pick the top blue marker from the table 11- Put the blue marker in the black holder 12- Go to the bottom yellow marker on the table 13- pick the yellow marker from the table 14- Place the left yellow marker into the holder 15- Lift the yellow marker from the table 16- Release the yellow marker in the black holder 17- Pick up the blue marker from the table 18- Place the blue marker in the bottom black holder 19- Pick up the orange marker from the table 20- Drop the orange marker in the pen holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e","video":"3041087901504692364.mp4"}
+{"uid":"14800861159077317068","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the seaweed snacks in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"8819176366994341071.mp4"}
+{"uid":"13410459455179586048","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"1094252184021614598.mp4"}
+{"uid":"4865183806568558644","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the orange marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the right green marker from the table 2- Grasp the right green marker 3- Move towards the black holder 4- Drop the green marker into the holder 5- Lift the green marker from the table 6- Put the green marker in the black holder 7- Move to the top orange marker 8- pick the orange marker from the table 9- place the orange marker in the bottom black holder 10- Go to the top blue marker 11- Grasp the blue marker 12- pick the top blue marker from the table 13- Put the blue marker in the black holder 14- Go to the bottom yellow marker on the table 15- pick the yellow marker from the table 16- Place the left yellow marker into the holder 17- Lift the yellow marker from the table 18- Release the yellow marker in the black holder 19- Pick up the blue marker from the table 20- Place the blue marker in the bottom black holder Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange marker from the table 2- Place the orange marker into the marker holder 3- Move away from the holder 4- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the right green marker from the table 2- Grasp the right green marker 3- Move towards the black holder 4- Drop the green marker into the holder 5- Lift the green marker from the table 6- Put the green marker in the black holder 7- Move to the top orange marker 8- pick the orange marker from the table 9- place the orange marker in the bottom black holder 10- Go to the top blue marker 11- Grasp the blue marker 12- pick the top blue marker from the table 13- Put the blue marker in the black holder 14- Go to the bottom yellow marker on the table 15- pick the yellow marker from the table 16- Place the left yellow marker into the holder 17- Lift the yellow marker from the table 18- Release the yellow marker in the black holder 19- Pick up the blue marker from the table 20- Place the blue marker in the bottom black holder Q: immediate next step? \u003cPRED\u003eA: pick the orange marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the orange 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick the orange marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the orange 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:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: pick the orange marker from the table\n\u003c/PRED\u003e","video":"1158549894891843068.mp4"}
+{"uid":"4693090955093596818","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the sticky note in the glass tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2335888583858743801.mp4"}
+{"uid":"14022728358366542521","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick 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":"18386875165484490498.mp4"}
+{"uid":"17083973879432342797","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table Q: immediate next step? \u003cPRED\u003eA: Release the yellow marker in the black holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Release the yellow marker in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nRelease 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the yellow marker in the black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the yellow marker in the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease 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\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Release the yellow marker in the black holder 2- Pick up the blue marker from the table 3- Place the blue marker in the bottom black holder 4- Pick up the orange marker from the table 5- Place the orange marker into the marker holder\n\u003c/PRED\u003e","video":"17418511836479238103.mp4"}
+{"uid":"9482507798782516796","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":"2725358319679678311.mp4"}
+{"uid":"983008568615638659","text":"\u003ctask:success:discrete:False\u003e\npick the top blue 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker Q: immediate next step? \u003cPRED\u003eA: pick the top blue marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker Q: next 5 steps? \u003cPRED\u003eA: 1- pick the top blue marker from the table 2- Go to the bottom yellow marker on the table 3- pick the yellow marker from the table 4- Place the left yellow marker into the holder 5- Lift the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the top blue marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the top blue 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:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: pick the top blue 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 top blue marker from the table\n\u003c/PRED\u003e","video":"16149726665813872716.mp4"}
+{"uid":"10383628945472628700","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the right blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the right 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:discriminative:discrete:True\u003e\nDrop the right blue marker in the pen holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Drop the right 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: Drop the right blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table Q: immediate next step? \u003cPRED\u003eA: Drop the right blue marker in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the right blue marker in the pen holder 2- pick the yellow marker from the table 3- Place the left yellow marker into the holder 4- Lift the yellow marker from the table 5- Release the yellow marker in the black holder\n\u003c/PRED\u003e","video":"1995035615179220828.mp4"}
+{"uid":"3192529824725857011","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the peanut  candy 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":"9998295306542283840.mp4"}
+{"uid":"11673963623605443457","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the bowl on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2297006638964027350.mp4"}
+{"uid":"8640779389339182928","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":"15975043448437295341.mp4"}
+{"uid":"4881899774978041446","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput red spatula 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":"10495526880042912485.mp4"}
+{"uid":"16230493468926063259","text":"\u003ctask:success:discrete:True\u003e\nPick up the top orange marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the top orange marker\n\u003c/PRED\u003e","video":"3828260069714994754.mp4"}
+{"uid":"13835710323612477160","text":"\u003ctask:success:discrete:True\u003e\nMove to the top orange 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: Move to the top orange marker\n\u003c/PRED\u003e","video":"1594431632935496593.mp4"}
+{"uid":"12557547282524855894","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\npick up the right blue 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: pick up the right blue marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: pick up the right blue marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick up the right blue 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker Q: next 5 steps? \u003cPRED\u003eA: 1- pick up the right blue marker from the table 2- Go to the bottom yellow marker on the table 3- pick the yellow marker from the table 4- Place the left yellow marker into the holder 5- Lift the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker Q: immediate next step? \u003cPRED\u003eA: pick up the right blue marker from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick up the right blue marker from the table\n\u003c/PRED\u003e","video":"15861749530888433806.mp4"}
+{"uid":"11062994566805972212","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the green marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the green 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:success:discrete:False\u003e\nPick up the green 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:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick up the green marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder Q: immediate next step? \u003cPRED\u003eA: Pick up the green marker from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the green marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the green marker from the table 2- Move to the top orange marker 3- pick the orange marker from the table 4- place the orange marker in the bottom black holder 5- Go to the top blue marker\n\u003c/PRED\u003e","video":"17759330342890492852.mp4"}
+{"uid":"17422760008986706","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the paper clips 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":"4937475332796036795.mp4"}
+{"uid":"4530527807539498693","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace glass 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":"9921817020494621107.mp4"}
+{"uid":"13955176018783851515","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the orange marker 2- Go to the top blue marker 3- Grasp the blue marker 4- pick the top blue marker from the table 5- Put the blue marker in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the orange marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the orange marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the orange marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick up the orange marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the orange marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker Q: immediate next step? \u003cPRED\u003eA: Pick up the orange marker\n\u003c/PRED\u003e","video":"18237549115684504437.mp4"}
+{"uid":"15852190882387031148","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the right blue marker from the table 2- Go to the bottom yellow marker on the table 3- pick the yellow marker from the table 4- Place the left yellow marker into the holder 5- Lift the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the right blue 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the right blue marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick up the right blue marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\npick the red bull 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\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder Q: immediate next step? \u003cPRED\u003eA: Pick up the right blue marker from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the right blue marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the right blue 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","video":"6298873345641161211.mp4"}
+{"uid":"8660561911539589989","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nDrop the yellow marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13775856896351735353.mp4"}
+{"uid":"6202643285798235556","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the pink chocolate into the paper bag Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"13564755203281166457.mp4"}
+{"uid":"10055545515096053571","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":"9593615968382528625.mp4"}
+{"uid":"857640429848980253","text":"\u003ctask:success:discrete:True\u003e\nDrop the blue marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the blue marker in the pen holder\n\u003c/PRED\u003e","video":"14845800965168607101.mp4"}
+{"uid":"6106330286544711745","text":"\u003ctask:success:discrete:False\u003e\nDrop the blue marker into the marker holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the blue marker into the marker holder 2- Go to the bottom yellow marker on the table 3- pick the yellow marker from the table 4- Place the left yellow marker into the holder 5- Lift the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table Q: immediate next step? \u003cPRED\u003eA: Drop the blue marker into the marker holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the blue marker into the marker holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the blue marker into the marker holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Drop the blue marker into the marker holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the blue marker into the marker holder\n\u003c/PRED\u003e","video":"5349631246271703064.mp4"}
+{"uid":"11253327105251138846","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Release the yellow marker in the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nRelease the yellow marker in 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":"10802654432326435989.mp4"}
+{"uid":"8377267865560114839","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the Pistachio in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"15512931822705693398.mp4"}
+{"uid":"6579215691163421740","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the yellow marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the yellow marker 2- Pick up the blue marker from the table 3- Place the blue marker in the bottom black holder 4- Pick up the orange marker from the table 5- Place the orange marker into the marker holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the yellow marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the yellow marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder Q: immediate next step? \u003cPRED\u003eA: Pick up the yellow marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the yellow marker\n\u003c/PRED\u003e","video":"6333620627503042381.mp4"}
+{"uid":"6492648590614435158","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":"16835185620465233180.mp4"}
+{"uid":"1637759619833659069","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":"15884139039935496323.mp4"}
+{"uid":"17815106484842179193","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut pink 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":"196948221639311707.mp4"}
+{"uid":"15045313946918113930","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput 3 blue pens 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":"6335425620589838174.mp4"}
+{"uid":"7939433524608671602","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nenter the room with the objects Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"18224616038543403266.mp4"}
+{"uid":"15068106811619834575","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":"10091700340279597676.mp4"}
+{"uid":"15640228757196088146","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the  front orange marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nMove towards the  front orange marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17521574437692922720.mp4"}
+{"uid":"8550080274130319286","text":"\u003ctask:success:discrete:False\u003e\nMove towards the orange marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the orange marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the right green marker from the table 2- Grasp the right green marker 3- Move towards the black holder 4- Drop the green marker into the holder 5- Lift the green marker from the table 6- Put the green marker in the black holder 7- Move to the top orange marker 8- pick the orange marker from the table 9- place the orange marker in the bottom black holder 10- Go to the top blue marker 11- Grasp the blue marker 12- pick the top blue marker from the table 13- Put the blue marker in the black holder 14- Go to the bottom yellow marker on the table 15- pick the yellow marker from the table 16- Place the left yellow marker into the holder 17- Lift the yellow marker from the table 18- Release the yellow marker in the black holder 19- Pick up the blue marker from the table 20- Place the blue marker in the bottom black holder Q: immediate next step? \u003cPRED\u003eA: Move towards the orange marker\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Move towards the orange marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the orange marker Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the right green marker from the table 2- Grasp the right green marker 3- Move towards the black holder 4- Drop the green marker into the holder 5- Lift the green marker from the table 6- Put the green marker in the black holder 7- Move to the top orange marker 8- pick the orange marker from the table 9- place the orange marker in the bottom black holder 10- Go to the top blue marker 11- Grasp the blue marker 12- pick the top blue marker from the table 13- Put the blue marker in the black holder 14- Go to the bottom yellow marker on the table 15- pick the yellow marker from the table 16- Place the left yellow marker into the holder 17- Lift the yellow marker from the table 18- Release the yellow marker in the black holder 19- Pick up the blue marker from the table 20- Place the blue marker in the bottom black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the orange marker 2- Place the orange marker into the marker holder 3- Move away from the holder 4- done\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the orange marker\n\u003c/PRED\u003e","video":"17411889970488666717.mp4"}
+{"uid":"17240919305781318311","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the yellow marker 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 yellow marker on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder Q: immediate next step? \u003cPRED\u003eA: Go to the yellow marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo 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:affordance:discriminative:discrete:True\u003e\nGo 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:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Go to the yellow marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the yellow marker on the table 2- Release the yellow marker in the black holder 3- Pick up the blue marker from the table 4- Place the blue marker in the bottom black holder 5- Pick up the orange marker from the table\n\u003c/PRED\u003e","video":"6849574454150226198.mp4"}
+{"uid":"5218831773773312931","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick a white pebble from the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"2118997104876529276.mp4"}
+{"uid":"2603402990009985807","text":"\u003ctask:success:discrete:False\u003e\nDrop the left yellow marker in the pen holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the left 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table Q: immediate next step? \u003cPRED\u003eA: Drop the left 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: Drop the left yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the left yellow marker in the pen holder 2- Release the yellow marker in the black holder 3- Pick up the blue marker from the table 4- Place the blue marker in the bottom black holder 5- Pick up the orange marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Drop the left yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the left yellow marker in the pen holder\n\u003c/PRED\u003e","video":"464236462200820087.mp4"}
+{"uid":"15637041874494635876","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":"16477688490004085408.mp4"}
+{"uid":"9753800309691805199","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":"174442957720357873.mp4"}
+{"uid":"15371253549211992815","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: I change my mind, can you take the pepsi can back to the fridge please. last 20 steps: 1- open the left flap of the refrigerator 2- place the cane in the refrigerator Q: next 5 steps? \u003cPRED\u003eA: 1- close the left flap of the refrigerator 2- done\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nclose the left flap of the refrigerator Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nclose the left flap of the refrigerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: close the left flap of the refrigerator\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: close the left flap of the refrigerator\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: I change my mind, can you take the pepsi can back to the fridge please Q: immediate next step? \u003cPRED\u003eA: close the left flap of the refrigerator\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: I change my mind, can you take the pepsi can back to the fridge please. last 20 steps: 1- open the left flap of the refrigerator 2- place the cane in the refrigerator Q: immediate next step? \u003cPRED\u003eA: close the left flap of the refrigerator\n\u003c/PRED\u003e","video":"3471376038350968014.mp4"}
+{"uid":"16913393641578584392","text":"\u003ctask:success:discrete:False\u003e\nDrop the yellow marker into the marker holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Drop the yellow marker into the marker holder\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 marker holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table Q: immediate next step? \u003cPRED\u003eA: Drop the yellow marker into the marker holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the yellow marker into the marker holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the yellow marker into the marker holder 2- Pick up the blue marker from the table 3- Place the blue marker in the bottom black holder 4- Pick up the orange marker from the table 5- Place the orange marker into the marker holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the yellow marker into the marker holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"17284516256981192627.mp4"}
+{"uid":"10608420481399106450","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput a candy 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":"13826423604887990545.mp4"}
+{"uid":"17980463992871296991","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table Q: immediate next step? \u003cPRED\u003eA: Release the marker into the black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Release the marker into the black holder 2- Move to the top orange marker 3- pick the orange marker from the table 4- place the orange marker in the bottom black holder 5- Go to the top blue marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Release the marker into the black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Release the marker into the black holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Release the marker into the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nRelease the 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:affordance:discriminative:discrete:True\u003e\nRelease the 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","video":"6983177838379857292.mp4"}
+{"uid":"1813791952919561722","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the right most blue marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Lift the right most blue marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker Q: immediate next step? \u003cPRED\u003eA: Lift the right most blue marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the right most blue marker from the table 2- Put the blue marker in the black holder 3- Go to the bottom yellow marker on the table 4- pick the yellow marker from the table 5- Place the left yellow marker into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nLift the right most blue 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the right most blue marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the right most blue 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","video":"13800132135143802041.mp4"}
+{"uid":"5954456078833896069","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput the rold gold packet left side in the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"10083273806827728356.mp4"}
+{"uid":"14592519944741730199","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the orange marker into the holder 2- Grasp the blue marker 3- pick the top blue marker from the table 4- Put the blue marker in the black holder 5- Go to the bottom yellow marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the orange marker into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the orange marker into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the orange 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the orange marker into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table Q: immediate next step? \u003cPRED\u003eA: Place the orange marker into the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPlace the orange 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","video":"17909326083368141453.mp4"}
+{"uid":"9171864911341574550","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the bottom yellow marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:False\u003e\nMove the pen 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\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom yellow marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the bottom yellow marker from the table 2- Place the left yellow marker into the holder 3- Lift the yellow marker from the table 4- Release the yellow marker in the black holder 5- Pick up the blue marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder Q: immediate next step? \u003cPRED\u003eA: Pick up the bottom yellow marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the bottom 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:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the bottom yellow marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the bottom 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","video":"1390201997880043099.mp4"}
+{"uid":"11778332532881019682","text":"\u003ctask:success:discrete:True\u003e\nMove towards the right blue 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: Move towards the right blue marker\n\u003c/PRED\u003e","video":"2044740288810350385.mp4"}
+{"uid":"8241403322834139906","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move to the top orange marker on the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Move to the top orange marker on the table 2- place the orange marker in the bottom black holder 3- Go to the top blue marker 4- Grasp the blue marker 5- pick the top blue marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder Q: immediate next step? \u003cPRED\u003eA: Move to the top orange 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 top orange marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Move to the top orange marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove to the top orange marker on the table Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove to the top orange marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"16825367076350470539.mp4"}
+{"uid":"7616683206347973146","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":"168156772238489683.mp4"}
+{"uid":"14245149860253958977","text":"\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: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table Q: immediate next step? \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: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:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: pick the yellow marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table Q: next 5 steps? \u003cPRED\u003eA: 1- pick the yellow marker from the table 2- Place the left yellow marker into the holder 3- Lift the yellow marker from the table 4- Release the yellow marker in the black holder 5- Pick up the blue 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","video":"410498259355994699.mp4"}
+{"uid":"649453964551805585","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nStick the tape on 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":"6382844961256687237.mp4"}
+{"uid":"6219533310354809940","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the green marker into the holder 2- Put the green marker in the black holder 3- Move to the top orange marker 4- pick the orange marker from the table 5- place the orange marker in the bottom black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the green marker into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Drop the green marker into the holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder Q: immediate next step? \u003cPRED\u003eA: Drop the green marker into the holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the green marker into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the green 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:success:discrete:False\u003e\nDrop the green 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","video":"2376262819250850268.mp4"}
+{"uid":"13613962013566714696","text":"\u003ctask:success:discrete:True\u003e\nput the yellow marker into the bottom black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the yellow marker into the bottom black holder\n\u003c/PRED\u003e","video":"16469381417870402908.mp4"}
+{"uid":"7875415213953096690","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nput the yellow marker into the bottom 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- put the yellow marker into the bottom black holder 2- Pick up the blue marker from the table 3- Place the blue marker in the bottom black holder 4- Pick up the orange marker from the table 5- Place the orange marker into the marker holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table Q: immediate next step? \u003cPRED\u003eA: put the yellow marker into the bottom black holder\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 bottom 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 bottom black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the yellow marker into the bottom black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the yellow marker into the bottom black holder\n\u003c/PRED\u003e","video":"9072369772772987918.mp4"}
+{"uid":"4570831043451338325","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the silver packet 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":"6306101488034783651.mp4"}
+{"uid":"5435435103935179958","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker Q: next 5 steps? \u003cPRED\u003eA: 1- pick the orange marker from the table 2- place the orange marker in the bottom black holder 3- Go to the top blue marker 4- Grasp the blue marker 5- pick the top blue marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker Q: immediate next step? \u003cPRED\u003eA: pick the orange marker from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: pick the orange marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\npick the orange 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:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: pick the orange 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 orange marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\npick the orange 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","video":"9262452318954149333.mp4"}
+{"uid":"4932474328206632920","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Move towards the right green marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards the right green 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the right green marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards the right green 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:affordance:discriminative:discrete:False\u003e\nPut the pink candy in the left bowl Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the right green marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the right green marker from the table 2- Grasp the right green marker 3- Move towards the black holder 4- Drop the green marker into the holder 5- Lift the green marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers Q: immediate next step? \u003cPRED\u003eA: Move towards the right green marker from the table\n\u003c/PRED\u003e","video":"9287415513703429915.mp4"}
+{"uid":"8559716917477704802","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the 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":"186742933773913152.mp4"}
+{"uid":"17648744452018839646","text":"\u003ctask:success:discrete:False\u003e\nGo to the top blue marker Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder Q: immediate next step? \u003cPRED\u003eA: Go to the top blue marker\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the top blue marker 2- Grasp the blue marker 3- pick the top blue marker from the table 4- Put the blue marker in the black holder 5- Go to the bottom yellow marker on the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Go to the top blue marker\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Go to the top blue marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the top blue marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the top blue 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","video":"8304574703493852952.mp4"}
+{"uid":"5082808347379419577","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker Q: next 5 steps? \u003cPRED\u003eA: 1- Move towards the black holder 2- Drop the green marker into the holder 3- Lift the green marker from the table 4- Put the green marker in the black holder 5- Move to the top orange marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nMove towards 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: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker Q: immediate next step? \u003cPRED\u003eA: Move towards the black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Move towards the black holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Move towards the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nMove towards 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Move towards the black holder\n\u003c/PRED\u003e","video":"9013501162254331890.mp4"}
+{"uid":"10708227941690925707","text":"\u003ctask:success:discrete:True\u003e\nMove towards the right side green marker on the table Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Move towards the right side green marker on the table\n\u003c/PRED\u003e","video":"10620163321828547797.mp4"}
+{"uid":"15574695601680894195","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nplace the three number ball in the billard 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":"9556195826774422411.mp4"}
+{"uid":"2096995529124060819","text":"\u003ctask:success:discrete:True\u003e\nMove to the right 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: Move to the right green marker\n\u003c/PRED\u003e","video":"12250744956270883612.mp4"}
+{"uid":"3413475572043499938","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput pistachio into the jar Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"3235438132621680081.mp4"}
+{"uid":"9489524054887078319","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Put the blue marker in the black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPut the blue marker in 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":"18008589047997635384.mp4"}
+{"uid":"14983029886417425792","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPut the stack into the dustbin Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5341659637283115658.mp4"}
+{"uid":"8329373528153257992","text":"\u003ctask:success:discrete:False\u003e\nGrasp the left 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: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Grasp the left yellow marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the left yellow marker on the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the left 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the left yellow marker on the table 2- Place the left yellow marker into the holder 3- Lift the yellow marker from the table 4- Release the yellow marker in the black holder 5- Pick up the blue marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the left yellow marker on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder Q: immediate next step? \u003cPRED\u003eA: Grasp the left yellow marker on the table\n\u003c/PRED\u003e","video":"16217239075246050340.mp4"}
+{"uid":"16188979612245313226","text":"\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the left most orange marker from the table 2- place the orange marker in the bottom black holder 3- Go to the top blue marker 4- Grasp the blue marker 5- pick the top blue marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder Q: immediate next step? \u003cPRED\u003eA: Pick up the left most orange marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick up the left most orange marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the left most orange 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the left most orange marker from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the left most orange marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the left most orange 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","video":"629969973066379980.mp4"}
+{"uid":"15942264470993946500","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Pick up the bottom yellow marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nPick up the bottom yellow marker 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":"14931803699397475752.mp4"}
+{"uid":"4658746047784700775","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Grasp the right green marker\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nGrasp the right 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","video":"5976754781834813041.mp4"}
+{"uid":"9373334786319645626","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPlace the orange inside 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":"11589650135003206846.mp4"}
+{"uid":"14989022713577977438","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":"12284300664927033545.mp4"}
+{"uid":"2072658423505674255","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: put the orange marker into the bottom black holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Grasp the right green marker 2- Move towards the black holder 3- Drop the green marker into the holder 4- Lift the green marker from the table 5- Put the green marker in the black holder 6- Move to the top orange marker 7- pick the orange marker from the table 8- place the orange marker in the bottom black holder 9- Go to the top blue marker 10- Grasp the blue marker 11- pick the top blue marker from the table 12- Put the blue marker in the black holder 13- Go to the bottom yellow marker on the table 14- pick the yellow marker from the table 15- Place the left yellow marker into the holder 16- Lift the yellow marker from the table 17- Release the yellow marker in the black holder 18- Pick up the blue marker from the table 19- Place the blue marker in the bottom black holder 20- put the orange marker into the bottom black holder Q: immediate next step? \u003cPRED\u003eA: done\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Grasp the right green marker 2- Move towards the black holder 3- Drop the green marker into the holder 4- Lift the green marker from the table 5- Put the green marker in the black holder 6- Move to the top orange marker 7- pick the orange marker from the table 8- place the orange marker in the bottom black holder 9- Go to the top blue marker 10- Grasp the blue marker 11- pick the top blue marker from the table 12- Put the blue marker in the black holder 13- Go to the bottom yellow marker on the table 14- pick the yellow marker from the table 15- Place the left yellow marker into the holder 16- Lift the yellow marker from the table 17- Release the yellow marker in the black holder 18- Pick up the blue marker from the table 19- Place the blue marker in the bottom black holder 20- put the orange marker into the bottom black holder Q: next 5 steps? \u003cPRED\u003eA: 1- done\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nput the orange marker into the bottom 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":"4749989606703321376.mp4"}
+{"uid":"11150958035131263732","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npull the tray Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"5414294651566276956.mp4"}
+{"uid":"9670459419780460189","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nGo to the bottom 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Go to the bottom yellow marker on the table 2- pick the yellow marker from the table 3- Place the left yellow marker into the holder 4- Lift the yellow marker from the table 5- Release the yellow marker in the black holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Go to the bottom yellow marker on the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Go to the bottom yellow marker on the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder Q: immediate next step? \u003cPRED\u003eA: Go to the bottom yellow marker 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 bottom yellow marker on the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGo to the bottom 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","video":"234155491569506314.mp4"}
+{"uid":"12028755369399721083","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: put the orange marker into the bottom black holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nput the orange marker into the bottom black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: put the orange marker into the bottom black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: put the orange marker into the bottom black holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the right green marker from the table 2- Grasp the right green marker 3- Move towards the black holder 4- Drop the green marker into the holder 5- Lift the green marker from the table 6- Put the green marker in the black holder 7- Move to the top orange marker 8- pick the orange marker from the table 9- place the orange marker in the bottom black holder 10- Go to the top blue marker 11- Grasp the blue marker 12- pick the top blue marker from the table 13- Put the blue marker in the black holder 14- Go to the bottom yellow marker on the table 15- pick the yellow marker from the table 16- Place the left yellow marker into the holder 17- Lift the yellow marker from the table 18- Release the yellow marker in the black holder 19- Pick up the blue marker from the table 20- Place the blue marker in the bottom black holder Q: next 5 steps? \u003cPRED\u003eA: 1- put the orange marker into the bottom black holder 2- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the right green marker from the table 2- Grasp the right green marker 3- Move towards the black holder 4- Drop the green marker into the holder 5- Lift the green marker from the table 6- Put the green marker in the black holder 7- Move to the top orange marker 8- pick the orange marker from the table 9- place the orange marker in the bottom black holder 10- Go to the top blue marker 11- Grasp the blue marker 12- pick the top blue marker from the table 13- Put the blue marker in the black holder 14- Go to the bottom yellow marker on the table 15- pick the yellow marker from the table 16- Place the left yellow marker into the holder 17- Lift the yellow marker from the table 18- Release the yellow marker in the black holder 19- Pick up the blue marker from the table 20- Place the blue marker in the bottom black holder Q: immediate next step? \u003cPRED\u003eA: put the orange marker into the bottom black holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nput the orange marker into the bottom 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":"5946347543658615084.mp4"}
+{"uid":"14900710876362295722","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nput block in the box Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"6471347332826122220.mp4"}
+{"uid":"15457137592540138621","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\npick up 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":"16869667916578756752.mp4"}
+{"uid":"13444341914665027683","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick the orange cable 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":"10919914953814842750.mp4"}
+{"uid":"5152037963742737107","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the right side green 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:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick up the right side green marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the right side green 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the right side green marker from the table 2- Drop the green marker into the holder 3- Lift the green marker from the table 4- Put the green marker in the black holder 5- Move to the top orange marker\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table Q: immediate next step? \u003cPRED\u003eA: Pick up the right side green marker 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 right side green marker from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the right side green marker from the table\n\u003c/PRED\u003e","video":"2261857967378420189.mp4"}
+{"uid":"5654963892943555217","text":"\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table Q: immediate next step? \u003cPRED\u003eA: Place the left yellow marker into the holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Place the left yellow marker into the holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Place the left yellow marker into the holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Place the left yellow marker into the holder 2- Lift the yellow marker from the table 3- Release the yellow marker in the black holder 4- Pick up the blue marker from the table 5- Place the blue marker in the bottom black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Place the left yellow marker into the holder\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPlace the left 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:success:discrete:False\u003e\nPlace the left 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","video":"5605000458196553891.mp4"}
+{"uid":"2698366519923558401","text":"\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Drop the yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Drop the yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table Q: immediate next step? \u003cPRED\u003eA: Drop 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: Drop the yellow marker in the pen holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the yellow marker in the pen holder 2- Place the blue marker in the bottom black holder 3- Pick up the orange marker from the table 4- Place the orange marker into the marker holder 5- Move away from the holder\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop 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:affordance:discriminative:discrete:True\u003e\nDrop 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":"16664853307518570058.mp4"}
+{"uid":"13500720327957907546","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Grasp the right green marker\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nGrasp the right 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:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table Q: immediate next step? \u003cPRED\u003eA: Grasp the right green marker\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Grasp the right green marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nGrasp the right 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Grasp the right green marker 2- Move towards the black holder 3- Drop the green marker into the holder 4- Lift the green marker from the table 5- Put the green marker in the black holder\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Grasp the right green marker\n\u003c/PRED\u003e","video":"10794267593558213384.mp4"}
+{"uid":"9753288524970490622","text":"\u003ctask:success:discrete:True\u003e\nDrop the orange marker in the black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: Drop the orange marker in the black holder\n\u003c/PRED\u003e","video":"4869835560358414544.mp4"}
+{"uid":"16073650118534844578","text":"\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick up the orange marker from the table\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the orange marker from the table\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nPick up the orange 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:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the orange marker from the table\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the right green marker from the table 2- Grasp the right green marker 3- Move towards the black holder 4- Drop the green marker into the holder 5- Lift the green marker from the table 6- Put the green marker in the black holder 7- Move to the top orange marker 8- pick the orange marker from the table 9- place the orange marker in the bottom black holder 10- Go to the top blue marker 11- Grasp the blue marker 12- pick the top blue marker from the table 13- Put the blue marker in the black holder 14- Go to the bottom yellow marker on the table 15- pick the yellow marker from the table 16- Place the left yellow marker into the holder 17- Lift the yellow marker from the table 18- Release the yellow marker in the black holder 19- Pick up the blue marker from the table 20- Place the blue marker in the bottom black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the orange marker from the table 2- Move away from the holder 3- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the right green marker from the table 2- Grasp the right green marker 3- Move towards the black holder 4- Drop the green marker into the holder 5- Lift the green marker from the table 6- Put the green marker in the black holder 7- Move to the top orange marker 8- pick the orange marker from the table 9- place the orange marker in the bottom black holder 10- Go to the top blue marker 11- Grasp the blue marker 12- pick the top blue marker from the table 13- Put the blue marker in the black holder 14- Go to the bottom yellow marker on the table 15- pick the yellow marker from the table 16- Place the left yellow marker into the holder 17- Lift the yellow marker from the table 18- Release the yellow marker in the black holder 19- Pick up the blue marker from the table 20- Place the blue marker in the bottom black holder Q: immediate next step? \u003cPRED\u003eA: Pick up the orange marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the orange 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","video":"15655786660281339311.mp4"}
+{"uid":"16595827660975125310","text":"\u003ctask:success:discrete:False\u003e\nLift the green 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Lift the green marker from the table 2- Put the green marker in the black holder 3- Move to the top orange marker 4- pick the orange marker from the table 5- place the orange marker in the bottom black holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Lift the green marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nLift the green 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:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Lift the green marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Lift the green marker from the table\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder Q: immediate next step? \u003cPRED\u003eA: Lift the green marker from the table\n\u003c/PRED\u003e","video":"5790906769680214471.mp4"}
+{"uid":"14681476781897126363","text":"\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: open the left flap of the refrigerator\n\u003c/PRED\u003e\u003ctask:success:discrete:True\u003e\nopen the left flap of the refrigerator Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e","video":"11211607342572564203.mp4"}
+{"uid":"2435459467236901433","text":"\u003ctask:affordance:discriminative:discrete:False\u003e\nPick up the 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":"11243505525956957266.mp4"}
+{"uid":"529460468548818523","text":"\u003ctask:success:discrete:True\u003e\nPick up the left most orange marker 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 left most orange marker from the table\n\u003c/PRED\u003e","video":"11178189612361912059.mp4"}
+{"uid":"4353268638122788906","text":"\u003ctask:affordance:discriminative:discrete:True\u003e\nDrop the green marker into the marker holder Q: possible right now? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\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 marker into the marker holder\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Drop the green marker into the marker holder\n\u003c/PRED\u003e\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Drop the green marker into the marker holder\n\u003c/PRED\u003e\u003ctask:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table Q: next 5 steps? \u003cPRED\u003eA: 1- Drop the green marker into the marker holder 2- Move to the top orange marker 3- pick the orange marker from the table 4- place the orange marker in the bottom black holder 5- Go to the top blue marker\n\u003c/PRED\u003e\u003ctask:success:discrete:False\u003e\nDrop the green marker into the marker holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eno\u003c/PRED:BINARY\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 all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table Q: immediate next step? \u003cPRED\u003eA: Drop the green marker into the marker holder\n\u003c/PRED\u003e","video":"9486607183423664702.mp4"}
+{"uid":"12029885530199162943","text":"\u003ctask:future_prediction:freeform\u003e\nQ: what is likely to happen next? \u003cPRED\u003eA: Pick up the blue marker from the table\n\u003c/PRED\u003e\u003ctask:planning:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder Q: immediate next step? \u003cPRED\u003eA: Pick up the blue marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:generative:positive:freeform\u003e\nQ: what action is possible right now? \u003cPRED\u003eA: Pick up the blue marker from the table\n\u003c/PRED\u003e\u003ctask:affordance:discriminative:discrete:True\u003e\nPick up the blue 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:remaining5_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table 19- Release the yellow marker in the black holder Q: next 5 steps? \u003cPRED\u003eA: 1- Pick up the blue marker from the table 2- Pick up the orange marker from the table 3- Place the orange marker into the marker holder 4- Move away from the holder 5- done\n\u003c/PRED\u003e\u003ctask:immediate_planning_with_context20:freeform\u003e\ncurrent goal is: please place all of the highlighters into the pen holder. last 20 steps: 1- Move towards the markers 2- Move towards the right green marker from the table 3- Grasp the right green marker 4- Move towards the black holder 5- Drop the green marker into the holder 6- Lift the green marker from the table 7- Put the green marker in the black holder 8- Move to the top orange marker 9- pick the orange marker from the table 10- place the orange marker in the bottom black holder 11- Go to the top blue marker 12- Grasp the blue marker 13- pick the top blue marker from the table 14- Put the blue marker in the black holder 15- Go to the bottom yellow marker on the table 16- pick the yellow marker from the table 17- Place the left yellow marker into the holder 18- Lift the yellow marker from the table 19- Release the yellow marker in the black holder Q: immediate next step? \u003cPRED\u003eA: Pick up the blue marker from the table\n\u003c/PRED\u003e","video":"14289798089469211328.mp4"}
+{"uid":"2811917478284113062","text":"\u003ctask:success:discrete:True\u003e\nplace the orange marker in the bottom black holder Q: satisfied? \u003cPRED\u003eA: \u003cPRED:ANSWER\u003e\u003cPRED:DISCRETE\u003e\u003cPRED:BINARY\u003eyes\u003c/PRED:BINARY\u003e\u003c/PRED:DISCRETE\u003e\u003c/PRED:ANSWER\u003e\n\u003c/PRED\u003e\u003ctask:past_description:freeform\u003e\nQ: what just happened? \u003cPRED\u003eA: place the orange marker in the bottom black holder\n\u003c/PRED\u003e","video":"7681204384861702926.mp4"}